Trajectory planning of biped robot using linear pendulum mode for double support phase

IECON Proceedings (Industrial Electronics Conference)

Volumn , Issue , 2006, Pages 4094-4099

  Shibuya, Maki ^b   Suzuki, Tomoyuki ^b   Ohnishi, Kouhei ^a,b  

^a IEEE

^b KEIO UNIVERSITY   (Japan)

Author keywords

Biped robot; Double support phase; Linear pendulum mode; Stop motion; Trajectory planning

Indexed keywords

ELECTRONICS INDUSTRY; INDUSTRIAL ELECTRONICS; PROGRAMMABLE ROBOTS; ROBOTICS; ROBOTS; TRAJECTORIES; WALKING AIDS;

ANNUAL CONFERENCE; BIPED ROBOT; BIPED ROBOTS; DOUBLE SUPPORT PHASE; HORIZONTAL DIRECTION; LINEAR PENDULUM MODE; SIMPLE PENDULUMS; SPECIFIC AREAS; STABLE WALKING; STOP MOTION; TRAJECTORY PLANNING; TRAJECTORY PLANNING METHOD; WALKING STABILITY; ZERO-MOMENT POINT;

PENDULUMS;

EID: 50249151526     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2006.348126     Document Type: Conference Paper

References (13)

1. I. Shimoyama, "Dynamical Walking of Stilts Type Biped Locomotion," lransactions of the Japan Society of Mechanical Engineers. C, Vol.48, No.433, 1982, pp. 1445-1455.
2. S. Kajita and K. Tani, "Study of dynamic walk control of a biped robot on rugged terrain. Derivation and application of the linear inverted pendulum mode," The Society of Instrument and Control Engineers, Vol.27, No.2, 1991, pp. 177-184.
3. S. Kajita and K. Tani, "Dynamic Biped Walking Control on Rugged Terrain Using the Linear Inverted Pendulum Mode," The Society of Instrument and Control Engineers, Vol.31, No.10, 1995, pp. 1705-1714.
4. J. Furusyo and M. Yamada, "Dynamic Control of Biped Locomotion Robot in Consideration of Angular Mormentum," The Society of Instrument and Control Engineers, Vol.22, No.4, 1986, pp. 451-458.
5. K. Toda, T. Furuta and K. Toyama, "Biped Gait for Humanoids -Introduction of Double-Leg Supporting Phase for Stabilization-," in Proceeding of the 18rd Annual Conference of the Robotics Society of Japan, 2000
6. S. Kajita, Humanoid Robot, Ohmsha, Japan, 2005, pp. 135-136.
7. A. Sano, J. Furusyo and Y. Ikami, "Control of Torque Distribution in Biped Systems during Double-Support Phase," The Society of Instrument and Control Engineers, Vol.26, No.9, 1990, pp. 1066-1073.
8. S. Ito, H. Asano, M. Yamamo and H. Kawasaki, "A Weight Shift by Control of Center of Pressure of Ground Reaction Forces in Biped Double Support Phase," Journal of the Robotics Society of Japan, Vol.22, No.4, 2004, pp. 535-542.
9. S. Kaneko, K. Mitobe, M. Yamamo and Y. Nasu, "Control of the Walking Robots based on the ZMP Defined on the Ceiling," Journal of the Robotics Society of Japan, Vol.23, No.3, 2005, pp. 370-375.
10. M. Morisawa, S. Kajita, K. Harada, K. Fujiwara, F. Kanehiro, K. Kaneko and H. Hirukawa, "Emergency Stop Algorithm for Walking Humanoid Robots," in Proceeding of IEEE/RSJ International Conference on Intelligent Robotics and System, 2005
11. K. Kaneko, F. Kanehiro, M. Morisawa, S. Kajita, K. Fujiwara, K. Harada, and H. Hirukawa, "Motion Suspension System for Humanoid," in Proceeding of the 23rd Annual Conference of the Robotics Society of Japan, 2005
12. K. Ohnishi, "Robust Motion Control by Disturbance Observer," Journal of the Robotics Society of Japan, Vol.11, No.4, 1997, pp. 486-493.
13. K. Yoshida, "The SpaceDyn: A MATLAB Toolbox for Space and Mobile Robots," Journal of the Society of Instrument and Control Engineers, Vol.38, No.2, 1999, pp. 138-143.