Title :
C2 continuous gait-pattern generation for biped robots
Author :
Kudoh, Shunsuke ; Komura, Taku
Author_Institution :
Tokyo Univ., Japan
Abstract :
In this paper, we propose a new method to generate C2 continuous gait motion for biped robots. The method is based on the enhanced inverted pendulum mode, which can easily handle angular momentum around the center of gravity. Using our method, it is possible to plan motion paths for biped robots without discontinuity in the acceleration even during switching from single support phase to double support phase, and vice versa.
Keywords :
legged locomotion; motion control; path planning; pendulums; robot kinematics; C2 continuous gait-pattern generation; angular momentum; biped robots; center of gravity; continuous gait motion; double support phase; enhanced inverted pendulum mode; motion paths planning; single support phase; Boundary conditions; Differential equations; Foot; Gravity; Humanoid robots; Humans; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248797
