Running Gait Generation for Biped Robot with Horizontal Force Limit
نویسندگان
چکیده
منابع مشابه
Real time motion generation and control for biped robot -2nd report: Running gait pattern generation-
Bipedal running can easily result in a fall due to poor availability of the ground reaction force at the boundary of the flight and support phases. We propose methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied. We also extend previously proposed boundary condition, the diverge...
متن کاملArbitrary Symmetric Running Gait Generation for an Underactuated Biped Model
This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, mak...
متن کاملGeneration of semi-optimal gait trajectories for a biped robot
Over the last decennia there has been a wide interest in walking robots. They are potentially more capable of moving through the human environment and going over rough terrain than wheeled vehicles. We generate some 2D gaits for an approximately 0.5 [m] tall human like entertainment robot and we apply these in a very first experiment. The locomotion types we study are: walking at constant veloc...
متن کاملStable Gait Planning and Robustness Analysis of a Biped Robot with One Degree of Underactuation
In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
متن کاملReal 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 condition called “the divergent component of motion”. These techniques allow us to generate walking...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2011
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.29.849