Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot

Tomoya Sato; Sho Sakaino; Kouhei Ohnishi

doi:10.1109/ICIT.2009.4939522

Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

システムデザイン工学科

研究成果: Conference contribution

16 被引用数 (Scopus)

抄録

In this paper, a real-time walking trajectory generation method at constant body height in a single support phase for three-dimensional biped robots is proposed. An analytic solution of a body trajectory was obtained from a ZMP (Zero-Moment Point) equation of a body and a swing leg trajectory. Real-time body trajectory is generated based on an analytic solution. This body trajectory is applied, the biped robot walks stably without up and down of the body height. Additionally, the modeling of the proposed method is more precisely than that of the conventional methods. The validity of the proposed method was confirmed by some simulations and an experiment.

本文言語	English
ホスト出版物のタイトル	2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOI	https://doi.org/10.1109/ICIT.2009.4939522
出版ステータス	Published - 2009 7月 17
イベント	2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia 継続期間: 2009 2月 10 → 2009 2月 13

出版物シリーズ

名前	Proceedings of the IEEE International Conference on Industrial Technology

Other

Other	2009 IEEE International Conference on Industrial Technology, ICIT 2009
国/地域	Australia
City	Churchill, VIC
Period	09/2/10 → 09/2/13

ASJC Scopus subject areas

コンピュータサイエンスの応用
電子工学および電気工学

文献へのアクセス

10.1109/ICIT.2009.4939522

他のファイルとリンク

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引用スタイル

Sato, T., Sakaino, S., & Ohnishi, K. (2009). Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot. In 2009 IEEE International Conference on Industrial Technology, ICIT 2009 記事 4939522 (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2009.4939522

Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.
2009 IEEE International Conference on Industrial Technology, ICIT 2009. 2009. 4939522 (Proceedings of the IEEE International Conference on Industrial Technology).

研究成果: Conference contribution

Sato, T, Sakaino, S & Ohnishi, K 2009, Real-time walking trajectory generation method at constant body height in single support phase for three-dimensional biped robot. in 2009 IEEE International Conference on Industrial Technology, ICIT 2009., 4939522, Proceedings of the IEEE International Conference on Industrial Technology, 2009 IEEE International Conference on Industrial Technology, ICIT 2009, Churchill, VIC, Australia, 09/2/10. https://doi.org/10.1109/ICIT.2009.4939522

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