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http://dx.doi.org/10.5391/JKIIS.2011.21.3.353

Modeling and RPY Motion Analysis of Bipedal Walking Robots  

Kim, Byoung-Ho (Biomimetics & Intelligent Robotics Lab., Dept. of Mechatronics Eng., Kyungsung Univ.)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.3, 2011 , pp. 353-358 More about this Journal
Abstract
This paper presents a virtual-legged walking model for bipedal robots and analyzes its fundamental RPY(Roll, Pitch, and Yaw) motion effects by simulation. For the purpose of identifying the motion effects of the bipedal walking, we assign some arbitrary trajectories both at the center of mass and at the center of pressure of the robot based on human walking. And then we verify the major moments to the roll, pitch, and yaw directions of the robot. As a result, it is shown that those motions are natural in the process of bipedal walking and they are deeply dependent on the step distance, the vertical level of the center of mass, and the acceleration of the robot. The importance of trajectory planning for the footstep location during a bipedal walking is finally addressed in terms of balance.
Keywords
Virtual-legged walking model; Bipedal robots; Natural behaviors; Walking balance;
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