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Titolo:
Planning walking patterns for a biped robot
Autore:
Huang, Q; Yokoi, K; Kajita, S; Kaneko, K; Arai, H; Koyachi, N; Tanie, K;
Indirizzi:
Beijing Inst Technol, Dept Mechatron, Beijing 100081, Peoples R China Beijing Inst Technol Beijing Peoples R China 100081 081, Peoples R China Natl Inst Adv Ind Sci & Technol, Intelligent Syst Inst, Tsukuba, Ibaraki 3058568, Japan Natl Inst Adv Ind Sci & Technol Tsukuba Ibaraki Japan 3058568 8568, Japan
Titolo Testata:
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
fascicolo: 3, volume: 17, anno: 2001,
pagine: 280 - 289
SICI:
1042-296X(200106)17:3<280:PWPFAB>2.0.ZU;2-P
Fonte:
ISI
Lingua:
ENG
Soggetto:
HUMANOID ROBOT; GAIT SYNTHESIS; GENERATION;
Keywords:
actuator specification; biped robot; stability; uneven ground; walking pattern generation;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
37
Recensione:
Indirizzi per estratti:
Indirizzo: Huang, Q Beijing Inst Technol, Dept Mechatron, Beijing 100081, Peoples R China Beijing Inst Technol Beijing Peoples R China 100081 les R China
Citazione:
Q. Huang et al., "Planning walking patterns for a biped robot", IEEE ROBOT, 17(3), 2001, pp. 280-289

Abstract

Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and stability constraint are satisfied, it is desirableto select a walking pattern that requires small torque and velocity of thejoint actuators. In this paper, we first formulate the constraints of the foot motion parameters. By varying the values of the constraint parameters,we can produce different types of foot motion to adapt to ground conditions. We then propose a method for formulating the problem of the smooth hip motion with the largest stability margin using only two parameters, and derive the hip trajectory by iterative computation. Finally, the correlation between the actuator specifications and the walking patterns is described through simulation studies, and the effectiveness of the proposed methods is confirmed by simulation examples and experimental results.

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Documento generato il 29/03/20 alle ore 15:40:27