1P2-S-042 Walking Pattern Generation around Singularity(Biped Robot 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

2005 ◽  
Vol 2005 (0) ◽  
pp. 127
Author(s):  
Koki Kameta ◽  
Akinori Sekiguchi ◽  
Yuichi Tsumaki ◽  
Dragomir Nenchev
Keyword(s):  
Biped Robot ◽  
Pattern Generation ◽  
Daily Lives ◽  
Walking Pattern ◽  
Walking Pattern Generation

Walking Pattern Generation for a Biped Robot Using Polynomial Approximation

2005 ◽  
Author(s):  
Yun-Seok Kang ◽  
Hong Jae Yim ◽  
Ki-Joo Lee ◽  
Jung-Hun Park ◽  
Joong-Kyung Park ◽  
...  
Keyword(s):  
Polynomial Approximation ◽  
Biped Robot ◽  
Pattern Generation ◽  
Trunk Motion ◽  
Walking Pattern ◽  
Moving Direction ◽  
Walking Pattern Generation ◽  
Constrained Multibody System ◽  
Ground Condition ◽  
Fifth Order

In this paper, a stable walking pattern generation method for a biped robot is presented. A biped robot is considered as constrained multibody system by several kinematic joints. The proposed method is based on the optimized trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. To minimize the deviation from the desired ZMP, the trunk motion is generated by the fifth order polynomial approximation. Walking simulation for the virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

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