Bipedal walking pattern design considering the effect of double support phase

被引:2
|
作者
Zhu, Chi [1 ]
Kawamura, Atsuo [2 ]
机构
[1] Maebashi Inst Technol, Dept Syst Life Engn, Kamisadori 460-1, Maebashi, Gunma 3710816, Japan
[2] Yokohama Natl Univ, Dept Elect & Comp Engn, Hodogaya Ku, Yokohama, Kanagawa 2408501, Japan
来源
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年
关键词
walking pattern design; biped robot; inverted; pendulum; double support phase;
D O I
10.1109/ROBIO.2007.4522279
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, under the condition of acceleration continuance, the effect of double support phase in bipedal walking is investigated, and a new design approach for bipedal waking pattern based on the synchronization or the motions in sagittal and lateral planes is developed. The analysis of the motions both in the sagittal and lateral planes reveals that the motions in these two planes are tightly coupled together. The motion parameters such as walking speed, phase motion time, and phase stride can be easily adjusted simply by altering the start and finish points of double support 1 bases in the P lateral plane. Consequently, a new bipedal walking pattern for adjusting walking speed by controlling the double support phase is developed.
引用
收藏
页码:883 / 888
页数:6
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