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...

Full description

Saved in:
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
Online AccessGet full text
ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5354662

Cover

Abstract 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.
AbstractList 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.
Author Matsumoto, T.
Yoshiike, T.
Takenaka, T.
Author_xml – sequence: 1
  givenname: T.
  surname: Takenaka
  fullname: Takenaka, T.
  organization: Fundamental Res. Center, Honda R&D, Wako, Japan
– sequence: 2
  givenname: T.
  surname: Matsumoto
  fullname: Matsumoto, T.
  organization: Fundamental Res. Center, Honda R&D, Wako, Japan
– sequence: 3
  givenname: T.
  surname: Yoshiike
  fullname: Yoshiike, T.
  organization: Fundamental Res. Center, Honda R&D, Wako, Japan
BookMark eNpVUM1KAzEYjNiCbe0DiJe8wK5f_hNvUvwpFApV8Viy229LdLtZsrn49lbtQecyM4cZmJmSURc7JOSKQckYuJvlZv1ccgBXKqGk1vyMzJ2xTHIphQUpz_95YUZkwpkSBVhlx2T6HXUA3MIFmQ_DOxwhFbdcT8hug76lORyQHmIOsaN77DD5H-m7Ha1jl1NsaRMTrUKPO5piFTMt2JBpwj6mfEvffPsRuj3d-5Bp73PG9Lfokowb3w44P_GMvD7cvyyeitX6cbm4WxWBgcqFBa1ZXTHNOdZCgFYGReU0BzSNdZ45bJSuQGnloWlq0N6DMQykYd4dh8_I9W9vQMRtn8LBp8_t6TTxBeAeXNw
ContentType Conference Proceeding
DBID 6IE
6IH
CBEJK
RIE
RIO
DOI 10.1109/IROS.2009.5354662
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan (POP) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP) 1998-present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 9781424438044
1424438047
EndPage 1091
ExternalDocumentID 5354662
Genre orig-research
GroupedDBID 6IE
6IF
6IH
6IL
6IN
AAJGR
AAWTH
ABLEC
ACGFS
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
IJVOP
M43
OCL
RIE
RIL
RIO
RNS
ID FETCH-LOGICAL-i105t-80661cb1622ec330657e3b9620e7f89a19ef56b0565a0ffc06aa07710471a9803
IEDL.DBID RIE
ISBN 9781424438037
1424438039
ISSN 2153-0858
IngestDate Wed Aug 27 02:39:19 EDT 2025
IsPeerReviewed false
IsScholarly true
LCCN 2009900280
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i105t-80661cb1622ec330657e3b9620e7f89a19ef56b0565a0ffc06aa07710471a9803
PageCount 8
ParticipantIDs ieee_primary_5354662
PublicationCentury 2000
PublicationDate 2009-Oct.
PublicationDateYYYYMMDD 2009-10-01
PublicationDate_xml – month: 10
  year: 2009
  text: 2009-Oct.
PublicationDecade 2000
PublicationTitle 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublicationTitleAbbrev IROS
PublicationYear 2009
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0000452826
ssj0001079896
Score 2.2409644
Snippet 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...
SourceID ieee
SourceType Publisher
StartPage 1084
SubjectTerms Boundary conditions
Control systems
Intelligent robots
Kinematics
Laboratories
Legged locomotion
Motion control
Real time systems
Robot control
USA Councils
Title Real time motion generation and control for biped robot -1st report: Walking gait pattern generation
URI https://ieeexplore.ieee.org/document/5354662
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV27TsMwFLVKJ1h4tIi3PDCS1okTO2ZFVAWpgAoV3SrbuakqUBKVdOHrsZ2kFMTA5mTI4yrKOb6PcxC6TKnZofmJ9iz8eCGLpaeYbaYhXHNtGIJ0hfbRAxtOwvtpNG2hq_UsDAC45jPo2aWr5Se5XtlUWT-iUcjsD3fLbNyqWa11PsVKgzdU2eVXCBexs-cyoEY9wyziZq6LxoSKRu6pPuZ1xdMnon83fnyulCzrG_5wXnHAM9hFo-aRq36Tt96qVD39-UvN8b_vtIe63yN--GkNXvuoBdkB2tlQJ-ygZGxIJLbm87jy-sFzp1HtljJLcN3mjg3vxWpRQIKXucpL7PkfJa6KEdf4Vb7bbDyey0WJC6fmuXmhLpoMbl9uhl5tyuAtDBUrDaIZRNfKZ0EAmlrfeQ5UCRYQ4GkspC8gjZgyvCqSJE01YVISzq0ihC-FifQhamd5BkcI81TGigBQosNQ8UTYuXOzPYPAB8lSeYw6Nl6zotLdmNWhOvn79CnadpUe12h3htrlcgXnhjCU6sJ9KV80Crep
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3LT8IwHG4IHtSLDzC-7cGjg3bd2tWrkYACGoTIjbRdR4hmEBwX_3rbbkM0Hrx1O-zxy7Lv6-_xfQBcJ8Ts0HCsPAs_XkAj4Ulqm2kQU0wZhiBcob3Xp-1R8DAOxxVws56F0Vq75jPdsEtXy4_namVTZc2QhAG1P9wtg_shzqe11hkVKw5ekmWXYUGMR86gy8Aa8Qy3iMrJLhIhwkvBp-KYFTVPjHizM3h6ybUsi1v-8F5x0NPaA73yofOOk7fGKpMN9flLz_G_b7UP6t9DfvB5DV8HoKLTQ7C7oU9YA_HA0Eho7edh7vYDp06l2i1FGsOi0R0a5gvlbKFjuJzLeQY9_JHBvBxxC1_Fu83Hw6mYZXDh9Dw3L1QHo9b98K7tFbYM3syQscxgmsF0JTH1fa2IdZ5nmkhOfaRZEnGBuU5CKg2zCgVKEoWoEIgxqwmBBTeRPgLVdJ7qYwBZIiKJtCZIBYFkMbeT52aDpn2sBU3ECajZeE0WufLGpAjV6d-nr8B2e9jrTrqd_uMZ2HF1H9d2dw6q2XKlLwx9yOSl-2q-AP6_uvI
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2009+IEEE%2FRSJ+International+Conference+on+Intelligent+Robots+and+Systems&rft.atitle=Real+time+motion+generation+and+control+for+biped+robot+-1st+report%3A+Walking+gait+pattern+generation&rft.au=Takenaka%2C+T.&rft.au=Matsumoto%2C+T.&rft.au=Yoshiike%2C+T.&rft.date=2009-10-01&rft.pub=IEEE&rft.isbn=9781424438037&rft.issn=2153-0858&rft.spage=1084&rft.epage=1091&rft_id=info:doi/10.1109%2FIROS.2009.5354662&rft.externalDocID=5354662
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2153-0858&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2153-0858&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2153-0858&client=summon