NDLI: A high stability, smooth walking pattern for a biped robot

Content Provider	IEEE Xplore Digital Library
Author	Qiang Huang Kajita, S. Koyachi, N. Kaneko, K. Yokoi, K. Arai, H. Komoriya, K. Tanie, K.
Copyright Year	1999
Description	Author affiliation: Dept. of Robotics, Mech. Eng. Lab., Ibaraki, Japan (Qiang Huang)
Abstract	Biped robots have better mobility than conventional wheeled robots, but they tip over easily. In order to walk stably in various environments such as rough terrain, up and down slopes, or regions containing obstacles, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. We propose a method to plan a walking pattern consisting of a foot trajectory and a hip trajectory. First, we formulate the constraints of a foot trajectory, and generate the foot trajectory by 3rd order spline interpolation. By setting the values of constraint parameters, it is easy to produce different types of foot motion. Then, we formulate a hip trajectory using a 3rd order periodic spline function, and derive the hip trajectory with high stability. Finally, the effectiveness of the proposed method is illustrated by simulation examples.
Starting Page	65
Ending Page	71
File Size	606333
Page Count	7
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.769932
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Stability Foot Mobile robots Torso Hip Spline Trajectory Interpolation Energy consumption
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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