NDLI: Bipedal walking pattern design based on synchronization of the motions in sagittal and lateral planes

Content Provider	IEEE Xplore Digital Library
Author	Chi Zhu Tomizawa, Y. Kawamura, A.
Copyright Year	2005
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan (Chi Zhu; Tomizawa, Y.; Kawamura, A.)
Abstract	In this paper, a new design approach of bipedal walking pattern based on the synchronization of the motions in sagittal and lateral planes are presented and two walking patterns of ZMP fixed and ZMP variable cases are developed. Based on our previous work, bipedal walking is separated into the initial acceleration, double support, deceleration, and acceleration phases; consequently, the nature that bipedal walking is in fact a continuous acceleration and deceleration motion is revealed. With the discusses on the motions both in the sagittal and lateral planes, the fact that the motions in these two planes are tightly coupled together is clarified. The motion parameters such as the walking velocity, walking time, and phase stride can be easily changed simply by altering the swinging amplitude in lateral plane that is determined by the double support phase. The constraint conditions of the phase stride, velocity and swinging amplitude are investigated. Therefore, an approach for adjusting walking velocity by controlling the swinging amplitude is naturally developed. The motion planning is also presented and a numerical example is given out.
Starting Page	4101
Ending Page	4107
File Size	177143
Page Count	7
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545397
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Acceleration Humanoid robots Robot kinematics Motion planning Design engineering Velocity control Computational efficiency inverted pendulum Walking pattern bipedal robot synchronization
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Bipedal walking pattern design considering the effect of double support phase

Biped Walking with Variable ZMP, Frictional Constraint, and Inverted Pendulum Model

A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

Humanoid 3D Gait Generation Based on Inverted Pendulum Model

A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

A Bipedal Locomotion Planning with Double Support Phase Based on Linear Inverted Pendulum Mode

Walking Pattern Generation for Humanoid Robot Considering Upper Body Motion

The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation

Smooth joint trajectory planning for humanoid robots based on B-splines

Bipedal walking pattern design based on synchronization of the motions in sagittal and lateral planes

Similar Documents

Bipedal walking pattern design considering the effect of double support phase

Biped Walking with Variable ZMP, Frictional Constraint, and Inverted Pendulum Model

A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

Humanoid 3D Gait Generation Based on Inverted Pendulum Model

A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

A Bipedal Locomotion Planning with Double Support Phase Based on Linear Inverted Pendulum Mode

Walking Pattern Generation for Humanoid Robot Considering Upper Body Motion

The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation

Smooth joint trajectory planning for humanoid robots based on B-splines

Bipedal walking pattern design based on synchronization of the motions in sagittal and lateral planes