Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2006.10c
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- Pages.172-174
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- 2006
Trajectory generation method for bipedal walking on the stairs
두발 로봇의 계단 보행궤적 생성방법
- Published : 2006.10.27
Abstract
In this paper, we propose the trajectory generation method for bipedal walking on the stairs. This method is based on multi-masses inverted pendulum mode (MMIPM). MMIPM can effectively reduce the ZMP error but it is only applied to walking on the flat ground. In order to reduce ZMP error when a robot walks on the stairs, we generate the walking motion by MMIPM and modify that motion using parametric functions. We determine the values of the parameters by the simulations. Simulation results show that the robot can walk more stable on the stairs.