A walking pattern generation for biped robot with parallel mechanism by considering contact force

IECON Proceedings (Industrial Electronics Conference)

Volumn 1, Issue , 2001, Pages 2184-2189

  Morisawa, Mitsuharu ^a   Fujimoto, Yasutaka ^a   Murakami, Toshiyuki ^a   Ohnishi, Kouhei ^a  

^a KEIO UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; BIPED LOCOMOTION; BOUNDARY CONDITIONS; COLLISION AVOIDANCE; INVERSE KINEMATICS; MOTION PLANNING; POLYNOMIALS;

BIPED ROBOT; STATE VARIABLES; WALKING PATTERN;

MOBILE ROBOTS;

EID: 0035692537     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Computation of input generalized forces for robots with closed kinematic chain mechanisms
2. Dynamic walking control of a biped robot along a potential energy conserving orbit
3. An on-line trajectory modifier for the base link of biped robots to enhance locomotion stability
4. A design and a characteristic of parallel manipulator
5. Forward kinematic calculation of stewart platform
6. Three dimensional digital simulation and autonomous walking control for eight-axis biped robot
7. An approach to biped robot with parallel mechanism
8. A comparison study between parallel and serial linked structures in biped robot system