Trajectory Planning of Biped Robot Using Linear Pendulum Mode for Double Support Phase

Author

Shibuya, Maki ; Suzuki, Tomoyuki ; Ohnishi, Kouhei

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

4094

Lastpage

4099

Abstract

Double support phase is important for biped phase. robots to achieve stable walking. In this research, a simple trajectory planning method using linear pendulum mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with zero moment point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism

Keywords

legged locomotion; linear systems; pendulums; position control; stability; biped robot; double support phase; linear pendulum mode; natural stop motions; trajectory planning method; walking stability; zero moment point; Design engineering; Force sensors; Leg; Legged locomotion; Motion planning; Robots; Stability; Systems engineering and theory; Torque; Trajectory; biped robot; double support phase; linear pendulum mode; stop motion; trajectory planning;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.348126

Filename

4153387