Trajectory planning of biped robot using linear pendulum mode for double support phase

Maki Shibuya, Tomoyuki Suzuki, Kouhei Ohnishi

研究成果: Conference contribution

33 被引用数 (Scopus)

抄録

Double support phase is important for biped robots to achieve stable walking. In this research, a simple trajectory planning method using Linear Pendulum Mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with Zero Moment Point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism.

本文言語English
ホスト出版物のタイトルIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ4094-4099
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベントIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
継続期間: 2006 11 62006 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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