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
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1084 - 1091
Main Authors Takenaka, T., Matsumoto, T., Yoshiike, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Boundary conditions
Control systems
Intelligent robots
Kinematics
Laboratories
Legged locomotion
Motion control
Real time systems
Robot control
USA Councils
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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.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354662