Trajectory planning of biped robot with two kinds of inverted pendulums

Tomoyuki Suzuki, Kouhei Ohnishi

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

In recent years, studies about walking motion of biped robots have been developed rapidly. In many researches, biped robots are often treated as inverted pendulums since the structure of biped robots are very complicated. This simplification makes trajectory planning for a biped robot easy. An inverted pendulum model, however, gives some constraints to the robot. Walking motion using one kind of inverted pendulum has low robustness of walking. Hence, we propose a trajectory planning method with combination of two kinds of inverted pendulums in this paper. Trajectory planning of the swing leg for this new method is also proposed. With these, more stable and humanlike walking motion is achieved than that with one kind of inverted pendulum. The proposed method is more effective when a biped robot walks with lager range of strides.

本文言語English
ホスト出版物のタイトルEPE-PEMC 2006
ホスト出版物のサブタイトル12th International Power Electronics and Motion Control Conference, Proceedings
ページ396-401
ページ数6
DOI
出版ステータスPublished - 2007
イベントEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
継続期間: 2006 8月 302006 9月 1

出版物シリーズ

名前EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
国/地域Slovenia
CityPortoroz
Period06/8/3006/9/1

ASJC Scopus subject areas

  • 電子工学および電気工学

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