Trajectory planning of biped robot with two kinds of inverted pendulums

Tomoyuki Suzuki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

In recent years, studies about walking motion of biped robots have been developed rapidly. In many researches, biped robots are often treated as inverted pendulums since the structure of biped robots are very complicated. This simplification makes trajectory planning for a biped robot easy. An inverted pendulum model, however, gives some constraints to the robot. Walking motion using one kind of inverted pendulum has low robustness of walking. Hence, we propose a trajectory planning method with combination of two kinds of inverted pendulums in this paper. Trajectory planning of the swing leg for this new method is also proposed. With these, more stable and humanlike walking motion is achieved than that with one kind of inverted pendulum. The proposed method is more effective when a biped robot walks with lager range of strides.

Original languageEnglish
Title of host publicationEPE-PEMC 2006
Subtitle of host publication12th International Power Electronics and Motion Control Conference, Proceedings
Pages396-401
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
EventEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
Duration: 2006 Aug 302006 Sep 1

Publication series

NameEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
CountrySlovenia
CityPortoroz
Period06/8/3006/9/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Suzuki, T., & Ohnishi, K. (2007). Trajectory planning of biped robot with two kinds of inverted pendulums. In EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings (pp. 396-401). [4061737] (EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings). https://doi.org/10.1109/EPEPEMC.2006.283192