Quasi-static Walking for Biped Robots with a Sinusoidal Gait

被引：2

作者：

Wu, Shuangfei ^{[1
]}

Wang, Changliang ^{[2
]}

Ye, Linqi ^{[1
]}

Wang, Xueqian ^{[1
]}

Liu, Houde ^{[1
]}

Liang, Bin ^{[3
]}

机构：

[1] Tsinghua Univ, Ctr Artificial Intelligence & Robot, Tsinghua Shenzhen Int Grad Sch, Shenzhen 518055, Peoples R China

[2] Shanghai Acad Spaceflight Technol, Shanghai 201109, Peoples R China

[3] Tsinghua Univ, Nav & Control Res Ctr, Beijing 10084, Peoples R China

来源：

2022 IEEE 18TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) | 2022年

关键词：

D O I：

10.1109/CASE49997.2022.9926469

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The quasi-static gait is a common walking strategy for legged robots. It can make the legged robots adapt to many structured terrains. Many researchers focus on the quasi-static gait for Quadruped Robots which show great efficiency and simplicity. But when applied to biped robots, the stability analysis and the gait planning are still two challenging issues. This paper focuses on the quasi-static gait for biped walking. A novel gait with the sinusoidal movement of the center of gravity is proposed to achieve smooth and fast quasi-static walking. Based on the relationship of ZMP and COG, we proposed a stability criterion for quasi-static walking and a method that adjusts the parameters of the walking pattern to achieve fast walking. The proposed method is validated by simulation analysis in VREP software. The results show that biped robots can have well-performed on flat ground.

引用

页码：849 / 856

页数：8

共 50 条

[31] Influence of the velocity on quasi-static deflections of industrial articulated robots
Gonzalez, Monica Katherine
Theissen, Nikolas
Agirre, Nora
Larranaga, Jon
Hacala, Patxi
Archenti, Andreas
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2023, 125 (3-4): : 1429 - 1438
[32] Parametric analysis of composite sinusoidal specimens under quasi-static crushing
Mou, H. L.
Su, X.
Xie, J.
Feng, Z. Y.
AERONAUTICAL JOURNAL, 2018, 122 (1254): : 1244 - 1262
[33] Strict stealth walking gait generation for 3-link underactuated biped robots
Hiroki Shibata
Fumihiko Asano
Artificial Life and Robotics, 2020, 25 : 603 - 611
[34] Controllability analysis of biped walking robots
Silva, FM
Machado, JAT
6TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, 2000, : 595 - 600
[35] Walking Gait of a Biped with a Wearable Walking Assist Device
Aoustin, Yannick
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2015, 12 (04)
[36] Analysis of quasi-static and dynamic motion mechanisms for piezoelectric miniature robots
Simu, Urban
Johansson, Stefan
SENSORS AND ACTUATORS A-PHYSICAL, 2006, 132 (02) : 632 - 642
[37] Two Phase Sinusoidal Power Clocked Quasi-Static Adiabatic Logic Families
Sasipriya, P.
Bhaaskaran, V. S. Kanchana
2015 EIGHTH INTERNATIONAL CONFERENCE ON CONTEMPORARY COMPUTING (IC3), 2015, : 503 - 508
[38] Biped Walking Stabilization Based on Gait Analysis
Hashimoto, Kenji
Takezaki, Yuki
Motohashi, Hiromitsu
Otani, Takuya
Kishi, Tatsuhiro
Lim, Hun-ok
Takanishi, Atsuo
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 154 - 159
[39] A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator
Fu, Chenglong
Tan, Feng
Chen, Ken
ROBOTICA, 2010, 28 : 869 - 884
[40] Quasi-human biped walking
Lim, HO
Hyon, SH
Setiawan, SA
Takanishi, A
ROBOTICA, 2006, 24 (257-268) : 257 - 268

← 1 2 3 4 5 →