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http://dx.doi.org/10.3795/KSME-A.2011.35.7.767

Trajectory Generation for a Biped Robot Using ELIPM  

Park, Goun-Woo (Dept. of Mechanical Engineering, Hanyang Univ.)
Choi, See-Myoung (Dept. of Mechanical Engineering, Hanyang Univ.)
Park, Jong-Hyeon (Dept. of Mechanical Engineering, Hanyang Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.35, no.7, 2011 , pp. 767-772 More about this Journal
Abstract
Trajectory generation is important because it determines the walking stability, continuity, and performance of a body in motion. Generally, the Linear Inverted Pendulum Mode is used for trajectory generation; however, for the sake of simplicity, the trajectory in this mode does not allow vertical motions and pitching motions of the body. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode (ELIPM) that allows vertical motion as well as pitching motion. This method can also improve the performance of locomotion by controlling the stride and locomotion frequency of a body.
Keywords
Biped Robot; Trajectory Generation; Inverted Pendulum Model;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
Times Cited By SCOPUS : 0
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