Title :
A Fifth Degree Polynomial Curve Modification to 3D-LIPM Based Robot Walking Pattern
Author_Institution :
Sch. of Autom., Southeast Univ., Nanjing, China
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;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2014 Sixth International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4799-4956-4
DOI :
10.1109/IHMSC.2014.97
