DocumentCode
265018
Title
A Fifth Degree Polynomial Curve Modification to 3D-LIPM Based Robot Walking Pattern
Author
Qinling Li
Author_Institution
Sch. of Autom., Southeast Univ., Nanjing, China
Volume
1
fYear
2014
fDate
26-27 Aug. 2014
Firstpage
371
Lastpage
375
Abstract
This paper introduces an improved method of biped walking. We analyse the walking pattern of Robots based on the theories of 3D-LIPM, with special focus on the velocity and acceleration of its center of mass(CoM) when Robot changes its supporting leg. It finds that both velocity and acceleration are discontinuous. To solve the problem, a fifth-degree polynomial curve is inserted and the solutions of the coefficients are calculated. Effect of the solution on ZMP are also analysed.
Keywords
acceleration control; curve fitting; legged locomotion; motion control; polynomials; velocity control; 3D-LIPM; ZMP; acceleration; biped walking; center of mass; fifth degree polynomial curve modification; robot walking pattern; velocity; Acceleration; Automation; Educational institutions; Legged locomotion; Polynomials; Trajectory; 3D-LIPM; Fifth degree polynomial curve; ZMP;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2014 Sixth International Conference on
Conference_Location
Hangzhou
Print_ISBN
978-1-4799-4956-4
Type
conf
DOI
10.1109/IHMSC.2014.97
Filename
6917380
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