Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

In this paper, a real-time walking trajectory generation method at constant body height in a single support phase for three-dimensional biped robots is proposed. An analytic solution of a body trajectory was obtained from a ZMP (Zero-Moment Point) equation of a body and a swing leg trajectory. Real-time body trajectory is generated based on an analytic solution. This body trajectory is applied, the biped robot walks stably without up and down of the body height. Additionally, the modeling of the proposed method is more precisely than that of the conventional methods. The validity of the proposed method was confirmed by some simulations and an experiment.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOI
出版ステータスPublished - 2009 7 17
イベント2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
継続期間: 2009 2 102009 2 13

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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