Gait synthesis for a biped robot

被引：32
|
作者：
Shih, CL
机构：
[1] Department of Electrical Engineering, Natl. Taiwan Inst. of Technology, Taipei, 106, 43, Keelung Road
来源：
ROBOTICA | 1997年 / 15卷
关键词：
biped robot; gait synthesis; cubic polynomials; various surfaces;
D O I：
10.1017/S0263574797000726
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, the realization of biped walking on even floor, sloping surfaces, and stairs is studied. The motion trajectories for the biped's body and its two feet are modeled by piecewise cubic polynomials. The main features of the biped robot include two variable-length legs and a moving weight which can be positioned side-to-side for balance. The contribution of this paper is gait synthesis and is experimental verification.
引用
收藏
页码：599 / 607
页数：9
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