An approach to generation of smooth walking pattern for biped robot

Daiki Ito, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

10 被引用数 (Scopus)

抄録

Biped robot and other legged robots have better adaptation to environment in human living-space than wheel type and crawler type mobile robot. Such an adaptivity to various environment including rough ground highly depends on control capacity. Till now, there have been much investigations on control the practical controllers for biped robots. According the environmental information, a walking parameters which is parameterized by walking speed, walking length, and so on becomes more important in order to prevent falling down. This paper proposes a method to generate walking pattern for biped robot considering walking parameters under the various environment. This method brings two trajectories, Center of Gravity (COG) Trajectory and Tip Trajectory of Swing Leg. COG Trajecotry is determined based on walking stability. On the other hand, Tip Trajectory of Swing Leg which is made from 5th-order Spline function is determined based on environmental information. Spline function has continuous to the second differentiation. By taking boundary conditions into consideration, continuity of adjacent trajectory is assured. The effectiveness of proposed method is shown in simulation apply for biped robot.

本文言語English
ページ98-103
ページ数6
出版ステータスPublished - 2002 12 1
イベント7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
継続期間: 2002 7 32002 7 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
CountrySlovenia
CityMaribor
Period02/7/302/7/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

フィンガープリント 「An approach to generation of smooth walking pattern for biped robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル