Real-time walking trajectory generation method with three-mass models at constant body height for three-dimensional biped robots

IEEE Transactions on Industrial Electronics

Volumn 58, Issue 2, 2011, Pages 376-383

  Sato, Tomoya ^a   Sakaino, Sho ^a   Ohnishi, Kouhei ^a  

^a KEIO UNIVERSITY   (Japan)

Author keywords

Biped robot; trajectory planning; walking; zero moment point (ZMP)

Indexed keywords

ANALYTIC SOLUTION; BIPED ROBOT; REAL TIME TRAJECTORY GENERATION; SINGLE-SUPPORT PHASE; THREE-MASS MODEL; TRAJECTORY PLANNING; WALKING; WALKING TRAJECTORY; ZERO MOMENT POINT;

ROBOT PROGRAMMING; ROBOTS; TRAJECTORIES;

THREE DIMENSIONAL;

EID: 78651364073     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2010.2052535     Document Type: Article

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