Gait synthesis for a biped robot
Abstract- This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant velocity change which occurs at the time of collision of the biped swing leg with the ground. By stretching the knee joints, human-like natural walking motion is obtained.
When the ground con-ditions and stability constraint are satisfied, it is desirable to select a walking pattern that requires small torque and velocity of the joint actuators.
Index Terms—Actuator specification, biped robot, stability, un-even ground, walking pattern generation.
The proposed biped trajectory planning method has been tested on our soccer-playing humanoid robot, Robo-Erectus, which got Show Context Citation Context Abstract—Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily.
We first characterize t In the frame of gait synthesis tied with constraint functions, computational learning methods can be incorporated to further improve the gait. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point ZMP on a diagonal line between support legs.
This method makes it quite easy to design stable ZMP and COG center of gravity trajectories, which have been regarded as a very complicated and delicate problem. Finally, the correlation between the ac-tuator specifications and the walking patterns is described through simulation political party preference essay, and the effectiveness of the proposed methods is confirmed by simulation examples and experimental results.