Title :
Motion planning for biped robot with quad roller skates
Author :
Jo, Seong-Ho ; Chu, Jun-Uk ; Lee, Yun-Jung
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Kyungpook Nat. Univ., Daegu
Abstract :
The locomotion of legged robots is less effective than that of wheeled robots in a regular terrain. Thus, to improve the locomotion efficiency in a regular terrain, this paper presents a small biped walking robot with an auxiliary transportation device consisting of quad roller skates. Skating motion data is generated by planning the skating motion based on considering the Zero Moment Point (ZMP). The results indicate that the developed robot is able to generate an effective skating motion.
Keywords :
legged locomotion; path planning; auxiliary transportation device; biped robot; legged robot locomotion; motion planning; quad roller skate; regular terrain; wheeled robot; zero moment point; Communication system control; Control systems; Foot; Leg; Legged locomotion; Mobile robots; Motion planning; Robot kinematics; Robotics and automation; Wheels; ZMP; biped robot; quad roller skates; skating motion;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694327
