Walking trajectory planning on stairs using virtual slope for biped robots

IEEE Transactions on Industrial Electronics

Volumn 58, Issue 4, 2011, Pages 1385-1396

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

^a KEIO UNIVERSITY   (Japan)

Author keywords

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

Indexed keywords

A-PLANE; BIPED ROBOT; CONSTANT GRADIENTS; CONTACT POINTS; CONVENTIONAL METHODS; SUPPORT PHASE; TRAJECTORY GENERATION; TRAJECTORY PLANNING; VIRTUAL SLOPE; WALKING; WALKING TRAJECTORY; ZERO MOMENT POINT; ZERO-MOMENT POINT (ZMP);

ROBOTS; STAIRS; TRAJECTORIES;

ROBOT PROGRAMMING;

EID: 79952685066     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2010.2050753     Document Type: Article

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