DocumentCode
2630901
Title
ZMP-based Biped Running Enhanced by Toe Springs
Author
Kajita, Shuujj ; KANEKO, Kenji ; Morisawa, Mitsuharu ; Nakaoka, Shinichiro ; Hirukawa, Hirohisa
Author_Institution
Intelligent Syst. Res. Inst., AIST, Tsukuba
fYear
2007
fDate
10-14 April 2007
Firstpage
3963
Lastpage
3969
Abstract
We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passive DoFs for its toes. The trajectory of the center of mass is designed to realize the specified running motion and the foot trajectories are determined to get proper spring action at lift off phases. They are interpreted into joint angles by using the resolved momentum control. By the simulation and the preliminary experiment, it is shown that the toe springs are effectively used for running and hopping.
Keywords
legged locomotion; motion control; position control; HRP-2LT biped robot; ZMP-based biped running; foot trajectory; joint angle; momentum control; running motion; running pattern generation; toe springs; Foot; Hardware; Humanoid robots; Intelligent robots; Intelligent systems; Leg; Legged locomotion; Mobile robots; Robotics and automation; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.364087
Filename
4209705
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