Walking pattern generation with non-constant body height biped walking robot

The objective of this paper is to develop a method of walking pattern generation with non-constant body height towards quasi natural walking. Unlike the traditional LIPM or GCIPM based method, our proposed method divides the walking cycle into 3 parts, including lowering down, rising up and inverted...

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Bibliographic Details
Main Authors: Luo, Ren C., Hong-Hao Chang, Jun Sheng, Peng-Hsi Chang
Format: Conference Proceeding
Language:English
Subjects:
Biped Walking Robot
Foot
Hip
Legged locomotion
Mathematical model
Natural Walking
Non-Constant Height
Robot kinematics
Trajectory
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Summary:The objective of this paper is to develop a method of walking pattern generation with non-constant body height towards quasi natural walking. Unlike the traditional LIPM or GCIPM based method, our proposed method divides the walking cycle into 3 parts, including lowering down, rising up and inverted pendulum process, all described by specific trajectory equations. After modelling the dynamics of the biped walking robot with three mass points and properly designing ZMP reference, smooth spatial hip trajectory with non-constant height is obtained, as well as joint trajectories solved by inverse kinematics. The stability of biped walking pattern is verified through simulation and actual walking experiments on a biped robot developed in our lab.
ISSN:1553-572X
DOI:10.1109/IECON.2013.6699829