• DocumentCode
    399273
  • Title

    C2 continuous gait-pattern generation for biped robots

  • Author

    Kudoh, Shunsuke ; Komura, Taku

  • Author_Institution
    Tokyo Univ., Japan
  • Volume
    2
  • fYear
    2003
  • fDate
    27-31 Oct. 2003
  • Firstpage
    1135
  • Abstract
    In this paper, we propose a new method to generate C2 continuous gait motion for biped robots. The method is based on the enhanced inverted pendulum mode, which can easily handle angular momentum around the center of gravity. Using our method, it is possible to plan motion paths for biped robots without discontinuity in the acceleration even during switching from single support phase to double support phase, and vice versa.
  • Keywords
    legged locomotion; motion control; path planning; pendulums; robot kinematics; C2 continuous gait-pattern generation; angular momentum; biped robots; center of gravity; continuous gait motion; double support phase; enhanced inverted pendulum mode; motion paths planning; single support phase; Boundary conditions; Differential equations; Foot; Gravity; Humanoid robots; Humans; Robot kinematics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
  • Print_ISBN
    0-7803-7860-1
  • Type

    conf

  • DOI
    10.1109/IROS.2003.1248797
  • Filename
    1248797
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=399273