Planning Trajectory of Anthropomorphic Walking Robot (Biped Robot)
نویسندگان
چکیده
منابع مشابه
Walking trajectory control of a biped robot
A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smoot...
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Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and...
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This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved fo r 4 years, as uimed at the realization of the lower part of a n anthropomorphic biped robot. The project couers mechanical design, control studies and computer architecture integration. The robot includes two legs, two feet, a pelvis and U trunk. It has 15 active joints. The mass d...
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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...
متن کاملTrajectory planning for smooth transition of a biped robot
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. We first characterize the bipedal walking cycle and point out some major issues that need to be addressed to plan a continuous swing leg trajectory by using the concept of...
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ژورنال
عنوان ژورنال: Microsystems, Electronics and Acoustics
سال: 2019
ISSN: 2523-4455,2523-4447
DOI: 10.20535/2523-4455.2019.24.2.168522