Title :
Boundary Condition Relaxation Method for Stepwise Pedipulation Planning of Biped Robots
Author :
Sugihara, Tomomichi ; Nakamura, Yoshihiko
Author_Institution :
Sch. of Inf. Sci. & Electr. Eng., Kyushu Univ., Fukuoka
fDate :
6/1/2009 12:00:00 AM
Abstract :
A completely stepwise online pedipulation planning method is proposed. It is an analytical approach based on the general solution of the equation of motion of an approximate dynamical biped model whose mass is concentrated at the center of mass. A physically feasible referential trajectory with a constraint about the reaction force taken into account is planned only in one interval by relaxing the boundary condition, namely, by admitting a certain level of error between the desired and actually reached states, and discontinuity of zero-moment point at each end of the interval. It potentially creates responsive motions that require strong instantaneous acceleration. A semiautomatic continual pedipulation planning method is also presented. It generates a referential trajectory of the whole body only from the next desired foot placement. The validity of the proposed method is ensured through experiments with a small anthropomorphic robot.
Keywords :
legged locomotion; path planning; biped robots; boundary condition relaxation method; motion equation; reaction force; referential trajectory; semiautomatic continual pedipulation planning method; small anthropomorphic robot; stepwise online pedipulation planning method; zero-moment point; Biped robot; legged motion; online motion planning;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2008.2012336