NDLI: Online generation of stable gait for biped robots with feedback loop algorithm

Content Provider	IEEE Xplore Digital Library
Author	Kondak, K. Hommel, G.
Copyright Year	2004
Description	Author affiliation: Inst. fur Technische Informatik und ME, Berlin, Germany (Kondak, K.; Hommel, G.)
Abstract	The paper is devoted to the problem of stable gait generation for bipeds. The presented algorithm enables an online generation of stable gait patterns with minimal computational effort. The gait patterns are specified by the user with few task parameters: step size, step duration and walking speed, which can be changed in the generation process or during movement of the robot. The algorithm is based on a feedback loop scheme, composed of a linearized and decoupled non-linear model of the biped and time synchronized controllers. The closed form solution of the gait generation problem for a simplified model was considered to derive formulas for parameters required by the algorithm. Balancing/stabilization of the robot is achieved by appropriate change of the joint accelerations. The algorithm is applied to the 3D model of the biped. The performance of the algorithm was studied and demonstrated in a simulation. The algorithm can be used as a gait pattern generator, as a high level controller, and for balancing/stabilization of existing movement trajectories.
Starting Page	710
Ending Page	715
File Size	1429676
Page Count	6
File Format	PDF
ISBN	0780386450
DOI	10.1109/RAMECH.2004.1438005
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-01
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback loop Robot kinematics Legged locomotion Foot Acceleration Leg Equations Closed-form solution Hip Knee
Content Type	Text
Resource Type	Article

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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
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