A simple trajectory generation method for biped walking

Author

Feng, Shuai ; Sun, Zengqi

Author_Institution

Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing

fYear

2008

fDate

17-20 Dec. 2008

Firstpage

2078

Lastpage

2082

Abstract

This paper proposes a simple trajectory generation method for biped walking. This method needs only three trajectory control parameters, which are the stepping cycle, the length of a step and the max height of swing foot. The trajectory of robot´s stance leg is generated by using the 3DLIPM (three dimensional linear inverted pendulum mode), and the combination of sinusoid curves is used to generate the swing leg´s trajectory. This method has been applied on an actual biped robot. The result shows that this simple method is suitable for practical application well.

Keywords

legged locomotion; position control; biped robot; biped walking; sinusoid curves; three dimensional linear inverted pendulum mode; trajectory control parameters; trajectory generation method; Centralized control; Computer science; Foot; Leg; Legged locomotion; Mathematical model; Mobile robots; Nonlinear equations; Paper technology; Robotics and automation; 3DLIPM; biped walking; sinusoid curve; trajectory generation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on

Conference_Location

Hanoi

Print_ISBN

978-1-4244-2286-9

Electronic_ISBN

978-1-4244-2287-6

Type

conf

DOI

10.1109/ICARCV.2008.4795851

Filename

4795851