Paper Info
Title
Fourier series-based walking pattern generation for a biped humanoid robot
Abstract
This paper describes a method of generating a stable walking trajectory for a biped humanoid robot. We design a desired ZMP trajectory by using a Fourier series, which has finite or infinite summation of sine and cosine functions, and calculating the coefficients of the Fourier series. And then, an analytic center of gravity (CoG) trajectory solution to the desired zero moment point (ZMP) trajectory is obtained by using the simple inverted pendulum model. A time segmentation-based approach is used to generate the desired ZMP trajectories. The coefficients of the sine and cosine functions are then calculated by using several conditions so that the desired ZMP trajectories are continuous between the segments. The paper also gives a proof of solution existence. To verify the effectiveness of the proposed method, we performed full-body dynamic simulation of a biped humanoid robot. The result confirmed the excellent performance of the proposed walking pattern generation method.
Year
DOI
Venue
2010
10.1109/ICHR.2010.5686303
Humanoids
Keywords
Field
DocType
stable walking trajectory,cosine function,motion control,fourier series,zero moment point trajectory,biped humanoid robot,full body dynamic simulation,mobile robots,fourier series based walking pattern generation,sine function,humanoid robots,pendulums,nonlinear control systems,time segmentation based approach,inverted pendulum model,infinite summation,zmp trajectory,analytic center of gravity trajectory solution,position control,trajectory,zero moment point,inverted pendulum,mathematical model,dynamic simulation,humanoid robot
Inverted pendulum,Trigonometric functions,Computer science,Control theory,Simulation,Zero moment point,Fourier series,Pendulum,Trajectory,Mobile robot,Humanoid robot
Conference
ISBN
Citations 
PageRank 
978-1-4244-8689-2
3
0.42
References 
Authors
9
2
Name
Order
Citations
PageRank
Ill-woo Park144831.14
Jung-yup Kim250741.82