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
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;
Conference_Titel :
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location :
Akita
Print_ISBN :
978-1-4673-2259-1
