Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Analytic Solution for Stable Bipedal Walking Trajectory Generation Using Fourier Series

푸리에 급수를 이용한 이족보행로봇의 보행 궤적 해석해 생성

  • 박일우 (광운대학교 정보제어공학과) ;
  • 백주훈 (광운대학교 정보제어공학과)
  • Published : 2009.12.01
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Abstract

This article describes a simple method for generating the walking trajectory for the biped humanoid robot. The method used a simple inverted model instead of complex multi-mass model and a reasonable explanation for the model simplification is included. The problem of gait trajectory generation is to find the solution from the desired ZMP trajectory to CoG trajectory. This article presents the analytic solution for the bipedal gait generation on the bases of ZMP trajectory. The presented ZMP trajectory has Fourier series form, which has finite or infinite summation of sine and cosine functions, and ZMP trajectory can be designed by calculating the coefficients. From the designed ZMP trajectory, this article focuses on how to find the CoG trajectory with analytical way from the simplified inverted pendulum model. Time segmentation based approach is adopted for generating the trajectories. The coefficients of the function should be designed to be continuous between the segments, and the solution is found by calculating the coefficients with this connectivity conditions. This article also has the proof and the condition of solution existence.

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References

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