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http://dx.doi.org/10.3795/KSME-A.2009.33.10.1014

Redundancy Trajectory Generation for Biped Robot Manipulators  

Yeon, Je-Sung (한양대학교 기계공학과)
Park, Jong-Hyeon (한양대학교 기계공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.33, no.10, 2009 , pp. 1014-1022 More about this Journal
Abstract
A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a locomotion trajectory at the joint level unlike some other methods such as LIPM (linear inverted-pendulum mode) and GCIPM (gravity-compensated inverted-pendulum mode), each of which generates a trajectory of the center of gravity or the hip link under the assumption of the dominance of the hip-link inertia before generating the trajectory of the whole links at the joint level. For the stability of the trajectory generated in the proposed method, a stability condition based on the ZMP (zero-moment point) is used as a constraint as well as other kinetic constraints for bipedal motions. A 6-DOF biped robot is used to show how a stable locomotion trajectory can be generated in the sagittal plane by the proposed method and to demonstrate the feasibility of the proposed method.
Keywords
Biped Robot; Redundancy System; Trajectory Generation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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