Gait synthesis for a 12-degree-of-freedom biped robot by the LIPM

被引：0

作者：

Matilde Dominguez, Christian Alberto ^{[1
]}

Morales Sanchez, Eduardo ^{[1
]}

Perez Soto, Gerardo Israel ^{[2
]}

机构：

[1] Res Ctr Appl Sci & Adv Technol, Queretaro, Mexico

[2] Autonomous Univ Queretaro, Engn Dept, Queretaro, Mexico

来源：

2018 XX CONGRESO MEXICANO DE ROBOTICA (COMROB) | 2018年

关键词：

Biped robot; LIPM; inverse geometrical model; gait cycle;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This work presents the use of the Linear Inverted Pendulum Mode (LIPM) concept and the Inverse Geometrical Model (IGM) of a biped robot for generating a gait cycle with some particular characteristics. This work is different from the original procedure described in the literature, since here, the orbital energy is considered as being constant during the locomotion. LIPM is employed for obtaining the motion of the Center of Mass (CoM) with respect to the feet while a cycloidal trajectory is used for synthesizing the motion of the free foot during simple support phase. Joint motions are obtained by IGM.

引用

页数：5

共 50 条

[21] The Research on the Method of Gait Planning for Biped Robot
Li, Pan
Li, Kaichao
Wei, Yifan
[J]. INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT I, 2017, 10462 : 39 - 50
[22] GAIT SYNTHESIS FOR THE SD-2 BIPED ROBOT TO CLIMB SLOPING SURFACE
ZHENG, YF
SHEN, J
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (01): : 86 - 96
[23] Parameterized design and optimization of the gait of a biped robot
Dou, Ruijun
Ma, Peisun
Xie, Ling
[J]. Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2002, 38 (04): : 36 - 39
[24] Research and Design of the Biped robot Gait parameters
Zhang, Dantong
[J]. FRONTIERS OF MECHANICAL ENGINEERING AND MATERIALS ENGINEERING, PTS 1 AND 2, 2012, 184-185 : 1647 - 1650
[25] The Research of Biped Robot Gait Generator Based on Decoupling Synthesis and ZMP Algorithm
Yu Guochen
Wang Zhiliang
Xie Lun
Wu Kun
Zhu Boshuai
[J]. 2010 2ND INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (CAR 2010), VOL 1, 2010, : 476 - 480
[26] Gait planning and control of a novel biped robot
Tao, Sheng
Jian, Wang
Hong-Xu, Ma
[J]. 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 1541 - 1546
[27] Synthesis of a complete sagittal gait cycle for a five-link biped robot
Mu, XP
Wu, Q
[J]. ROBOTICA, 2003, 21 : 581 - 587
[28] Neuro-fuzzy gait synthesis with reinforcement learning for a biped walking robot
Zhou C.
[J]. Soft Computing, 2000, 4 (04) : 238 - 250
[29] Gait synthesis based on FWN and PD controller for a five-link biped robot
Liu, PF
Han, JQ
[J]. MICAI 2005: ADVANCES IN ARTIFICIAL INTELLIGENCE, 2005, 3789 : 1012 - 1021
[30] Prescribed synergy method-based hybrid intelligent gait synthesis for biped robot
Zhou, Changjiu
Jagannathan, Kanniah
Myint, Than
[J]. Proceedings - IEEE International Conference on Robotics and Automation, 1999, 2 : 1384 - 1389

← 1 2 3 4 5 →