This paper describes a walking pattern generation of a biped robot with parallel mechanism. By using the parallel mechanism, all actuators have been arranged on the upper part of the body. The biped robot which leg is applied to parallel linked structure can be composed of lightweight leg. Furthermore, the load torque of an actuator can be distributed. Therefore, the biped robot with parallel mechanism is suitable for walking. Such a biped robot can be regarded as 3 masses, that is body and two feet. State variables of three masses are defined in inertial space and these are represented by time polynomial equation. A walking pattern is expressed by larger order of polynomials rather than the order which decided according to boundary conditions. By representing this, the walking pattern with which an evaluation function is satisfied is generable. In this paper, the second power sum of contact force of the robot is evaluated into time polynomial equation. The proposed method is very high extendibility. These approach is that a robot can adapt itself to various environment.
|出版ステータス||Published - 2001 12月 1|
|イベント||27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States|
継続期間: 2001 11月 29 → 2001 12月 2
|Other||27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001|
|Period||01/11/29 → 01/12/2|
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