DocumentCode
575598
Title
Biped walking with stretched knee based on inverse kinematics via virtual prismatic joint and l∞ preview control
Author
Yoshida, Kohei ; Kunimatsu, Sadaaki ; Ishitobi, Mitsuaki
Author_Institution
Grad. Sch. of Sci. & Technol., Kumamoto Univ., Kumamoto, Japan
fYear
2012
fDate
20-23 Aug. 2012
Firstpage
1870
Lastpage
1873
Abstract
In this paper, we propose novel inverse kinematics via virtual prismatic joints in order to achieve biped walking with one stretched knee. We aim for the realization of smooth biped walking with one stretched knee by using the inverse kinematics via virtual prismatic joints and l∞ preview control. By simulation, we show the effectiveness of our proposed method.
Keywords
H∞ control; control engineering computing; legged locomotion; robot kinematics; virtual reality; biped walking; inverse kinematics; l∞ preview control; smooth biped walking; stretched knee; virtual prismatic joint; Humanoid robots; Jacobian matrices; Joints; Kinematics; Knee; Legged locomotion; Biped walking with stretched knee; Inverse kinematics via virtual prismatic joints; l∞ preview control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location
Akita
ISSN
pending
Print_ISBN
978-1-4673-2259-1
Type
conf
Filename
6318761
Link To Document