DocumentCode
1613308
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
fYear
2008
Firstpage
1173
Lastpage
1177
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICCAS.2008.4694327
Filename
4694327
Link To Document