Title :
Trajectory planning for smooth transition of a biped robot
Author :
Tang, Zhe ; Zhou, Changjiu ; Sun, Zenqi
Author_Institution :
Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China
Abstract :
This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant velocity change which occurs at the time of collision of the biped swing leg with the ground. We first characterize the bipedal walking cycle and point out some major issues that need to be addressed to plan a continuous swing leg trajectory by using the concept of the spline interpolation and zero moment points (ZMP). We demonstrate that the impact effects can be avoided at the time of the swing foot´s heel touching with the ground. The proposed biped trajectory planning method has been tested on our soccer-playing humanoid robot, Robo-Erectus, which got Second Place at the 2002 RoboCup Humanoid Walk competition.
Keywords :
interpolation; legged locomotion; path planning; splines (mathematics); biped robot; biped swing leg trajectory; bipedal walking cycle; roboerectus; smooth transition; soccer playing humanoid robot; spline interpolation; swing foot heel touching; trajectory planning method; zero moment points; Character generation; Computer science; Interpolation; Leg; Legged locomotion; Motion planning; Robots; Spline; Stability; Trajectory;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241961