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Variable walking trajectory generation method for biped robots based on redundancy analysis

Title
Variable walking trajectory generation method for biped robots based on redundancy analysis
Author
박종현
Keywords
Biped robot; Trajectory generation method; Redundancy analysis; Virtual spring-damper system; Augmented Jacobian method
Issue Date
2014-11
Publisher
KOREAN SOC MECHANICAL ENGINEERS, KSTC NEW BLD. 7TH FLOOR, 635-4 YEOKSAM-DONG KANGNAM-KU, SEOUL 135-703, SOUTH KOREA
Citation
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 권: 28, 호: 11, 페이지: 4397-4405
Abstract
This paper proposes a variable walking trajectory generation method for biped robots based on redundancy analysis. In designing a bipedal trajectory for locomotion, maintaining locomotion stability without falling down and natural patterns of the locomotion are important. First, the positions and orientations of the feet and body of a robot are chosen as the reference factors, whose trajectories are predetermined. The augmented Jacobian method is used at the acceleration level with differential equation of the reference factors and the ZMP equation to secure stable walking motions. A virtual spring-damper system is implemented as an additional task in the -space of the augmented Jacobian to make a balanced cyclic configuration of the robot. For a more stable trajectory generation, the condition to avoid kinematic singularity is also used. Computer simulations were conducted for various situations, for example, with locomotion speed changes or an asymmetrical mass distribution, which showed that the proposed trajectory generation method was very effective in generating various walking motions for biped robots.
URI
https://link.springer.com/article/10.1007%2Fs12206-014-1007-4http://hdl.handle.net/20.500.11754/51377
ISSN
1738-494X; 1976-3824
DOI
10.1007/s12206-014-1007-4
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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