Bipedal walking pattern design considering the effect of double support phase

In this paper, under the condition of acceleration continuance, the effect of double support phase in bipedal walking is investigated, and a new design approach for bipedal waking pattern based on the synchronization of the motions in sagittal and lateral planes is developed. The analysis of the mot...

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Bibliographic Details
Published in2007 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 883 - 888
Main Authors Chi Zhu, Kawamura, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2007
Subjects
Acceleration
Biomimetics
biped robot
Design engineering
double support phase
Foot
Humanoid robots
inverted pendulum
Legged locomotion
Motion analysis
Motion planning
Robot kinematics
Systems engineering and theory
Walking pattern design
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Summary:In this paper, under the condition of acceleration continuance, the effect of double support phase in bipedal walking is investigated, and a new design approach for bipedal waking pattern based on the synchronization of the motions in sagittal and lateral planes is developed. The analysis of the motions both in the sagittal and lateral planes reveals that the motions in these two planes are tightly coupled together. The motion parameters such as walking speed, phase motion time, and phase stride can be easily adjusted simply by altering the start and finish points of double support phases in the lateral plane. Consequently, a new bipedal walking pattern for adjusting walking speed by controlling the double support phase is developed.
ISBN:1424417619
9781424417612
DOI:10.1109/ROBIO.2007.4522279