Trajectory planning of biped robot for running motion

Tomoyuki Suzuki, Toshiaki Tsuji, Kouhei Ohnishi

研究成果: Conference contribution

5 引用 (Scopus)

抄録

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 Proceedings (Industrial Electronics Conference)
ページ1815-1820
ページ数6
2005
DOI
出版物ステータスPublished - 2005
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

Other

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

Fingerprint

Trajectories
Robots
Planning
Biped locomotion
Switches

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

これを引用

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

Trajectory planning of biped robot for running motion. / Suzuki, Tomoyuki; Tsuji, Toshiaki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 巻 2005 2005. p. 1815-1820 1569181.

研究成果: Conference contribution

Suzuki, T, Tsuji, T & Ohnishi, K 2005, Trajectory planning of biped robot for running motion. : IECON Proceedings (Industrial Electronics Conference). 巻. 2005, 1569181, pp. 1815-1820, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569181
Suzuki T, Tsuji T, Ohnishi K. Trajectory planning of biped robot for running motion. : IECON Proceedings (Industrial Electronics Conference). 巻 2005. 2005. p. 1815-1820. 1569181 https://doi.org/10.1109/IECON.2005.1569181
Suzuki, Tomoyuki ; Tsuji, Toshiaki ; Ohnishi, Kouhei. / Trajectory planning of biped robot for running motion. IECON Proceedings (Industrial Electronics Conference). 巻 2005 2005. pp. 1815-1820
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