• DocumentCode
    3709291
  • Title

    Inversion-based gait generation for humanoid robots

  • Author

    Leonardo Lanari;Seth Hutchinson

  • Author_Institution
    Dipartimento di Ingegneria Informatica, Automatica Gestionale, Sapienza Università
  • fYear
    2015
  • Firstpage
    1592
  • Lastpage
    1598
  • Abstract
    In this paper, we address the problem of gait generation for bipedal robots. We cast the determination of a Center of Mass (CoM) reference trajectory for a given Zero Moment Point (ZMP) desired behaviour as a stable inversion problem for non-minimum phase systems and obtain an analytical solution for any given ZMP trajectory. Our method exploits results from our previous research, in which we derived a family of bounded CoM trajectories associated to a given desired ZMP trajectory.
  • Keywords
    "Trajectory","Silicon","Legged locomotion","Transfer functions","Heuristic algorithms","Approximation methods"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
  • Type

    conf

  • DOI
    10.1109/IROS.2015.7353580
  • Filename
    7353580
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3709291