Title :
Inversion-based gait generation for humanoid robots
Author :
Leonardo Lanari;Seth Hutchinson
Author_Institution :
Dipartimento di Ingegneria Informatica, Automatica Gestionale, Sapienza Università
Abstract :
In this paper, we address the problem of gait generation for bipedal robots. We cast the determination of a Center of Mass (CoM) reference trajectory for a given Zero Moment Point (ZMP) desired behaviour as a stable inversion problem for non-minimum phase systems and obtain an analytical solution for any given ZMP trajectory. Our method exploits results from our previous research, in which we derived a family of bounded CoM trajectories associated to a given desired ZMP trajectory.
Keywords :
"Trajectory","Silicon","Legged locomotion","Transfer functions","Heuristic algorithms","Approximation methods"
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
DOI :
10.1109/IROS.2015.7353580
