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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