Trajectory Planning for the Walking Biped “Lucy”
نویسندگان
چکیده
منابع مشابه
Trajectory 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 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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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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This paper presents biped walking control using a library of optimal trajectories. The biped walking control problem is formulated as an optimal control problem. We take advantage of a parametric trajectory optimization method to find the periodic steady-state trajectory in regular walking. Then we use Differential Dynamic Programming (DDP) to generate a library of optimal trajectories and loca...
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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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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2006
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364906069343