POLYNOMIAL TRAJECTORY ALGORITHM FOR A BIPED ROBOT
نویسندگان
چکیده
منابع مشابه
Polynomial trajectory algorithm for a biped robot
Building trajectories for biped robot walking is a complex task considering all degrees of freedom (DOFs) commonly bound within the mechanical structure. A typical problem for such robots is the instability produced by violent transitions between walking phases in particular when a swinging leg impacts the surface. Although extensive research on novel efficient walking algorithms has been condu...
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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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From 1970’s, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed “the sway compensation trajectory”. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to ...
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ژورنال
عنوان ژورنال: International Journal of Robotics and Automation
سال: 2010
ISSN: 1925-7090
DOI: 10.2316/journal.206.2010.4.206-3240