A Method for Lateral Motion Planning on The Biped Robot

被引：0
作者：
Pu Changjiu [1 ]
Wang Yujun [1 ]
机构：
[1] Southwest Univ, Coll Comp & Informat Sci, Chongqing 400715, Peoples R China
来源：
2009 INTERNATIONAL FORUM ON INFORMATION TECHNOLOGY AND APPLICATIONS, VOL 2, PROCEEDINGS | 2009年
关键词：
the biped robot; non-bionic; lateral motion;
D O I：
10.1109/IFITA.2009.234
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new non-bionic method of lateral motion based on the quasi-passive research methods is presented which need not move center of mass (COM) to supporting foot in advance. The method can be achieved in the ordinary biped robot, which has a simple, controllable increasing quality and so on. Firstly, Process of lateral motion planning of the biped robot is introduced in detail. Then, trajectory of COM of the biped robot is analyzed by Lagrangian method and the feet and other parts are also planned in the different time of step. Finally, stability analysis and Optimized approach of the method has provided The results of experiment show that the results of experiment in my paper show that the method is feasibility and validity.
引用
收藏
页码：579 / 582
页数：4
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