Name
Abstract | ||
|---|---|---|
This paper proposes a new method of trajectory planning for biped robots walking on flat terrain. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the hip and foot trajectories are searched by genetic algorithm. The objective is to obtain stable walking trajectory with minimized joint-torques requirement ZMP stability criterion is used to ensure physically realizable walking motion. The effectiveness of our method is verified by simulation of a humanoid robot named NUSBIP-II. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/RAMECH.2008.4681476 | 2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2 |
Keywords | Field | DocType |
gallium,interpolation,humanoid robots,genetic algorithms,polynomials,polynomial interpolation,foot,genetic algorithm,path planning,trajectory,cartesian space,humanoid robot,robots | Motion planning,Stability criterion,Polynomial interpolation,Control theory,Simulation,Interpolation,Control engineering,Robot,Trajectory,Mathematics,Cartesian coordinate system,Humanoid robot | Conference |
Citations | PageRank | References |
1 | 0.38 | 11 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Van-huan Dau | 1 | 15 | 1.72 |
| Chee-Meng Chew | 2 | 375 | 40.58 |
| Aun-neow Poo | 3 | 43 | 3.39 |