제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Biped Gait Generation based on Linear Inverted Pendulum Mode On Flexible Terrain

  • Ueno, Satoshi (Graduate School of Science and Technology, Kumamoto University) ;
  • Igata, Kazuma (Graduate School of Science and Technology, Kumamoto University) ;
  • Kumon, Makoto (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Mizumoto, Ikuro (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Iwai, Zenta (Department of Mechanical Engineering and Materials Science, Kumamoto University)
  • Published : 2003.10.22
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, gait generation algorithm based on Linear Inverted Pendulum Mode is extended considering that the terrain is uncertain and flexible. Deformation of the soft terrain by the weight of the biped robot is taken into account to design the desired motion of the swing leg. Landing time disagreement caused by dynamics of the robot is also considered and a method to adjust gait is proposed. Results of numerical simulation show the effectiveness of the proposed method.

Keywords