The sway compensation trajectory for a biped robot

Ryo Kurazume, Tsutomu Hasegawa, Kan Yoneda

研究成果: ジャーナルへの寄稿Conference article

45 引用 (Scopus)

抄録

From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed "the sway compensation trajectory". This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot, HOAP-1.

元の言語英語
ページ(範囲)925-931
ページ数7
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版物ステータス出版済み - 12 9 2003
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, 台湾省、中華民国
継続期間: 9 14 20039 19 2003

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walking
trajectory
Trajectories
Robots
computer simulation
gravity
Compensation and Redress
Gravitation
method
experiment
Computer simulation
Experiments

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

The sway compensation trajectory for a biped robot. / Kurazume, Ryo; Hasegawa, Tsutomu; Yoneda, Kan.

:: Proceedings - IEEE International Conference on Robotics and Automation, 巻 1, 09.12.2003, p. 925-931.

研究成果: ジャーナルへの寄稿Conference article

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