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In this paper, a “virtual slope method” for walking trajectory planning on stairs for biped robots is proposed. In conventional methods for walking on stairs, there are two problems about the zero-moment point (ZMP). One is a ZMP equation problem, and the other is a ZMP definition problem in a double-support phase. First, a ZMP equation on stairs is different from that on flat ground. Therefore, the...
This paper is aimed at presenting a method to generate real-time jogging and jumping trajectories that can be applied to bipedal humanoid robots. The proposed method is based on ensuring the dynamic balance in a feasible way. For this purpose, we utilized the ZMP stability criterion and projectile motion throughout support and flight phases, respectively. In order to achieve dynamically equilibrated...
The trajectory is one of major issues for a humanoid robot because not every trajectory can provide a stable robot motion. In this paper, a real human motion is used to generate a robot trajectory. Image processing and transformation are used to extract the trajectory from a human motion to a robot trajectory. The dynamic stability of a robot is considered by using the zero moment point (ZMP) because...
A formulation based on Danevit-Hartenberg was educed for the dynamics and kinematics equation, the virtual model of humanoid robot based on Pro/ENGINEER was developed. The simulator, which is the virtual counterpart of the hardware robot platform for humanoid robotics, can emulate the dynamics of the robots and test the control algorithms. The controller can handle a dynamic balance control, a biped...
The biped Lucy, powered by pleated pneumatic artificial muscles, has been built and controlled and is able to walk up to a speed of 0.15 m/s. The pressures inside the muscles are controlled by a joint trajectory tracking controller to track the desired joint trajectories calculated by a trajectory generator. However, the actuators are set to a fixed stiffness value. In this paper a compliance controller...
Control of the biped robots requires appropriate gait planning that satisfies stable walking. In this paper, first a desired trajectory for the lower body will be designed by fitting proper polynomials at appropriate break points, which alleviates the impacts due to contact with the ground. Then, the upper body motion is planned based on the zero moment point (ZMP) criterion to provide a stable motion...
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