Trajectory planning of biped robot for running motion

Tomoyuki Suzuki, Toshiaki Tsuji, Kouhei Ohnishi

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

In recent years, studies of biped locomotion have been developed rapidly. Biped robots are able to walk smoothly. In addition, there came some robots which were able to run. Walking and running will be basic performances of biped robots in future. In this paper, we propose a new trajectory planning method, applicable to plan both walking and running motions. The two kinds of motions are treated as a unified trajectory. The trajectory consists of two phases; sinusoidal trajectory and parabolic trajectory. With this method, we plan walking and running motions for a biped robot in a unified manner, and switch between walking state and running state by parameter modification. We simulated and experimented with the proposed trajectory planning method.

元の言語English
ホスト出版物のタイトルIECON 2005
ホスト出版物のサブタイトル31st Annual Conference of IEEE Industrial Electronics Society
ページ1815-1820
ページ数6
DOI
出版物ステータスPublished - 2005 12 1
イベントIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
継続期間: 2005 11 62005 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
United States
Raleigh, NC
期間05/11/605/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • これを引用

    Suzuki, T., Tsuji, T., & Ohnishi, K. (2005). Trajectory planning of biped robot for running motion. : IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society (pp. 1815-1820). [1569181] (IECON Proceedings (Industrial Electronics Conference); 巻数 2005). https://doi.org/10.1109/IECON.2005.1569181