TY - JOUR
T1 - ZMP reference trajectory generation for biped robot with inverted pendulum model by using virtual supporting point
AU - Suzuki, Tomoyuki
AU - Tsuji, Toshiaki
AU - Shibuya, Maki
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - Motion planning of a biped robot based on ZMP is quite popular in recent years. In this method, ZMP reference trajectory is planned at first so that ZMP stays inside of the support polygon. Then, walking pattern is generated based on the trajectory. Conventional methods based on ZMP reference trajectory did not take the dynamics of bipedal locomotion into account. Therefore, the basis of the motion planning was ambiguous and the biped robot did not get human-like walking. This paper proposes ZMP reference trajectory generation with inverted pendulum model by using VSP (Virtual Supporting Point). With this, smooth ZMP reference trajectory based on the dynamics of the inverted pendulum is generated uniquely according to the desired stride and walking cycle.
AB - Motion planning of a biped robot based on ZMP is quite popular in recent years. In this method, ZMP reference trajectory is planned at first so that ZMP stays inside of the support polygon. Then, walking pattern is generated based on the trajectory. Conventional methods based on ZMP reference trajectory did not take the dynamics of bipedal locomotion into account. Therefore, the basis of the motion planning was ambiguous and the biped robot did not get human-like walking. This paper proposes ZMP reference trajectory generation with inverted pendulum model by using VSP (Virtual Supporting Point). With this, smooth ZMP reference trajectory based on the dynamics of the inverted pendulum is generated uniquely according to the desired stride and walking cycle.
KW - Biped robot
KW - Inverted pendulum model
KW - VSP (Virtual Supporting Point)
KW - Walking
KW - ZMP (zero moment point)
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U2 - 10.1541/ieejias.128.687
DO - 10.1541/ieejias.128.687
M3 - Article
AN - SCOPUS:67651192125
SN - 0913-6339
VL - 128
SP - 687
EP - 693
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
IS - 6
ER -