Stride and walking-cycle online changing for biped robot in frontal plane | IEEE Conference Publication | IEEE Xplore

Stride and walking-cycle online changing for biped robot in frontal plane


Abstract:

When a walking trajectory of a 3-dimensional (3D) biped robot is changed, it is necessary to consider not only a sagittal trajectory but also a frontal trajectory. In thi...Show More

Abstract:

When a walking trajectory of a 3-dimensional (3D) biped robot is changed, it is necessary to consider not only a sagittal trajectory but also a frontal trajectory. In this paper, an online stride changing method and a walking cycle changing method of biped robots using linear pendulum mode are proposed. With these methods, the trajectory planning is easier than that with some conventional methods because switching from a trajectory of single support phase to a trajectory of double support phase is unnecessary. Moreover, the moving range of center of gravity (COG) is decided arbitrarily. The validity of the proposed methods is confirmed by simulations and experiments.
Date of Conference: 21-24 March 2010
Date Added to IEEE Xplore: 13 May 2010
ISBN Information:

ISSN Information:

Conference Location: Nagaoka, Japan

Contact IEEE to Subscribe

References

References is not available for this document.