An Optimal Walking Trajectory of Biped Mechanism. 1st Report. Optimal Trajectory Planning Mothod and Gait Solutions Under Full-Actuated Condition.
نویسندگان
چکیده
منابع مشابه
Energy-Efficient Walking for Biped Robot Using Self-Excited Mechanism and Optimal Trajectory Planning
Recently, a lot of researches which aim at realization of dynamic biped walking are being performed. There is Honda's ASIMO as a representative of researches of humanoid robots. ASIMO has joints of many degrees of freedom that are near to a human being, high environment adaptability and robustness, and can do various performances. However, it needs many sensors, complicated control, and walks w...
متن کاملTrajectory Planning for the Walking Biped "Lucy"
A real-time joint trajectory generation strategy for the dynamic walking biped ”Lucy” [1, 2] is proposed. This trajectory planner generates dynamically stable motion patterns by using a set of objective locomotion parameters as its input, and by tuning and exploiting the natural upper body dynamics. The latter can be determined and manipulated by using the angular momentum equation. Basically, ...
متن کاملOptimal Trajectory Generation for the Biped Walking on Inclined Surfaces
Objectives This paper presents an optimal trajectory generation method for the biped walking on inclined surfaces by changing some boundary conditions. The minimal energy is used as a criterion to propose a dynamically stable and optimal trajectory generation method for the impactless biped walking. Methods A biped robot should be able to navigate artificial environments including stair-cases, ...
متن کاملTrajectory Planning for the Walking Biped
A real-time joint trajectory generator for planar walking bipeds is proposed. In the near future this trajectory planner will be implemented on the robot “Lucy”, which is actuated by pleated pneumatic artificial muscles. The trajectory planner generates dynamically stable motion patterns by using a set of objective locomotion parameters as its input, and by tuning and exploiting the natural upp...
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This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2001
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.67.2601