Abstract
In this paper, an optimized gait pattern generation is produced for a three dimensional bipedal robot using a Minimum Jerk criterion in the single support phase. Three approaches are introduced and compared in this framework. The Minimum Jerk based control approaches are the point-to-point, the Via-point and the shape function trajectory. Simulation results show that the point-to-point Minimum Jerk-based control cannot be satisfactory since the supposed swinging leg of the bipedal robot doesn´t lift off the ground. However, a bipedal stable human-like movement is guaranteed using both last approaches.
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Aloulou, A., Boubaker, O. (2011). Minimum Jerk-Based Control for a Three Dimensional Bipedal Robot. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25489-5_25
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DOI: https://doi.org/10.1007/978-3-642-25489-5_25
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