TY - JOUR
T1 - Walking trajectory planning on stairs using virtual slope for biped robots
AU - Sato, Tomoya
AU - Sakaino, Sho
AU - Ohashi, Eijiro
AU - Ohnishi, Kouhei
N1 - Funding Information:
Manuscript received July 7, 2009; revised December 23, 2009 and February 15, 2010; accepted April 24, 2010. Date of publication June 1, 2010; date of current version March 11, 2011. This work was supported in part by a Grant-in-Aid for the Global Center of Excellence for High-Level Global Cooperation for Leading-Edge Platform on Access Spaces from the Ministry of Education, Culture, Sports, Science and Technology in Japan.
PY - 2011/4
Y1 - 2011/4
N2 - In this paper, a virtual slope method for walking trajectory planning on stairs for biped robots is proposed. In conventional methods for walking on stairs, there are two problems about the zero-moment point (ZMP). One is a ZMP equation problem, and the other is a ZMP definition problem in a double-support phase. First, a ZMP equation on stairs is different from that on flat ground. Therefore, the same trajectory generation as flat ground cannot be implemented. This problem is defined as a ZMP equation problem. Second, the ZMP cannot be defined in the double-support phase on stairs because contact points of the feet do not constitute a plane. The ZMP can be defined only on the plane. This problem is defined as a ZMP definition problem. These two problems are solved concurrently by the virtual slope method. It is the method that regards the stairs as a virtual slope. In walking trajectory planning on a slope of the constant gradient, the two problems about the ZMP do not exist. Additionally, a trajectory planning procedure based on the virtual slope method is explained. The validity of the proposed method is confirmed by some simulations and experiments.
AB - In this paper, a virtual slope method for walking trajectory planning on stairs for biped robots is proposed. In conventional methods for walking on stairs, there are two problems about the zero-moment point (ZMP). One is a ZMP equation problem, and the other is a ZMP definition problem in a double-support phase. First, a ZMP equation on stairs is different from that on flat ground. Therefore, the same trajectory generation as flat ground cannot be implemented. This problem is defined as a ZMP equation problem. Second, the ZMP cannot be defined in the double-support phase on stairs because contact points of the feet do not constitute a plane. The ZMP can be defined only on the plane. This problem is defined as a ZMP definition problem. These two problems are solved concurrently by the virtual slope method. It is the method that regards the stairs as a virtual slope. In walking trajectory planning on a slope of the constant gradient, the two problems about the ZMP do not exist. Additionally, a trajectory planning procedure based on the virtual slope method is explained. The validity of the proposed method is confirmed by some simulations and experiments.
KW - Biped robot
KW - stairs
KW - trajectory planning
KW - walking
KW - zero-moment point (ZMP)
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U2 - 10.1109/TIE.2010.2050753
DO - 10.1109/TIE.2010.2050753
M3 - Article
AN - SCOPUS:79952685066
VL - 58
SP - 1385
EP - 1396
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 4
M1 - 5475250
ER -