Real-time walking trajectory generation method with three-mass models at constant body height for three-dimensional biped robots

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Article査読

51 被引用数 (Scopus)

抄録

In this paper, a real-time walking trajectory generation method with three-mass models at constant body height for 3-D biped robots is extended for a diagonal walking. By realization of the diagonal walking, the availability is improved. The modeling of this method is more precise than that of conventional real-time walking trajectory generation methods. In this method, the zero-moment point equation of a body is derived, and an analytic solution of a body trajectory at a constant body height in a single support phase is obtained. Because the analytic solution is used, real-time trajectory generation can be realized. In addition, this method has advantages of the body trajectory at the constant body height. The validities are confirmed from simulations of the 2-D walking and an experiment of the 3-D diagonal walking.

本文言語English
論文番号5518427
ページ(範囲)376-383
ページ数8
ジャーナルIEEE Transactions on Industrial Electronics
58
2
DOI
出版ステータスPublished - 2011 2月
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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