TY - GEN
T1 - Trajectory planning of biped robot for running motion
AU - Suzuki, Tomoyuki
AU - Tsuji, Toshiaki
AU - Ohnishi, Kouhei
PY - 2005/12/1
Y1 - 2005/12/1
N2 - In recent years, studies of biped locomotion have been developed rapidly. Biped robots are able to walk smoothly. In addition, there came some robots which were able to run. Walking and running will be basic performances of biped robots in future. In this paper, we propose a new trajectory planning method, applicable to plan both walking and running motions. The two kinds of motions are treated as a unified trajectory. The trajectory consists of two phases; sinusoidal trajectory and parabolic trajectory. With this method, we plan walking and running motions for a biped robot in a unified manner, and switch between walking state and running state by parameter modification. We simulated and experimented with the proposed trajectory planning method.
AB - In recent years, studies of biped locomotion have been developed rapidly. Biped robots are able to walk smoothly. In addition, there came some robots which were able to run. Walking and running will be basic performances of biped robots in future. In this paper, we propose a new trajectory planning method, applicable to plan both walking and running motions. The two kinds of motions are treated as a unified trajectory. The trajectory consists of two phases; sinusoidal trajectory and parabolic trajectory. With this method, we plan walking and running motions for a biped robot in a unified manner, and switch between walking state and running state by parameter modification. We simulated and experimented with the proposed trajectory planning method.
UR - http://www.scopus.com/inward/record.url?scp=33749657272&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33749657272&partnerID=8YFLogxK
U2 - 10.1109/IECON.2005.1569181
DO - 10.1109/IECON.2005.1569181
M3 - Conference contribution
AN - SCOPUS:33749657272
SN - 0780392523
SN - 9780780392526
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1815
EP - 1820
BT - IECON 2005
T2 - IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Y2 - 6 November 2005 through 10 November 2005
ER -