Name
Title | ||
|---|---|---|
Walking pattern generation for a biped robot using optimized polynomial approximation |
Abstract | ||
|---|---|---|
A stable walking pattern generation method for a biped robot is presented in this paper. The proposed method is based on the optimized polynomial approximation of the trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. The trunk motion to minimize the deviation of desired ZMP is approximated by the fifth order polynomial. Small deviation of the desired ZMP is allowed to improve the walking speed. And the optimization method is employed to guarantee walking stability. To verify the effectiveness and validity of the proposed method, walking simulations are performed for the biped robot with relatively low and high speed. A numerical results show that the proposed method can be applied to the generation of stable walking pattern effectively. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/ICHR.2004.1442680 | Humanoids |
Keywords | DocType | Volume |
design optimization,automotive engineering,trajectory,zero moment point,foot,stability,polynomials | Conference | 2 |
ISSN | ISBN | Citations |
2164-0572 | 0-7803-8863-1 | 1 |
PageRank | References | Authors |
0.41 | 12 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yunseok Kang | 1 | 6 | 1.46 |
| Junghun Park | 2 | 27 | 3.31 |
| Hong Jae Yim | 3 | 5 | 2.41 |
| Ji-Oh Song | 4 | 1 | 0.41 |