Real time motion generation and control for biped robot -1st report: Walking gait pattern generation

Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary co...

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Bibliographic Details
Main Authors: Takenaka, T., Matsumoto, T., Yoshiike, T.
Format: Conference Proceeding
Language:English
Subjects:
Boundary conditions
Control systems
Intelligent robots
Kinematics
Laboratories
Legged locomotion
Motion control
Real time systems
Robot control
USA Councils
Online Access:Request full text
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Summary:Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called ¿the divergent component of motion¿. These techniques allow us to generate walking gait patterns with large margin from the edges of support polygon in real time.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354662