TY - GEN
T1 - Trajectory planning of biped robot using linear pendulum mode for double support phase
AU - Shibuya, Maki
AU - Suzuki, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2006/12/1
Y1 - 2006/12/1
N2 - Double support phase is important for biped robots to achieve stable walking. In this research, a simple trajectory planning method using Linear Pendulum Mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with Zero Moment Point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism.
AB - Double support phase is important for biped robots to achieve stable walking. In this research, a simple trajectory planning method using Linear Pendulum Mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with Zero Moment Point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism.
KW - Biped robot
KW - Double support phase
KW - Linear pendulum mode
KW - Stop motion
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=50249151526&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249151526&partnerID=8YFLogxK
U2 - 10.1109/IECON.2006.348126
DO - 10.1109/IECON.2006.348126
M3 - Conference contribution
AN - SCOPUS:50249151526
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4094
EP - 4099
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -