書誌事項
- タイトル別名
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- ZMP Reference Trajectory Generation for Biped Robot with Inverted Pendulum Model by Using Virtual Supporting Point
- カソウ シテン オ モチイタ トウリツ フリコ モデル ニ ヨル 2ソク ロボット ノ ZMP サンショウ キドウ セイセイ
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抄録
Motion planning of a biped robot based on ZMP is quite popular in recent years. In this method, ZMP reference trajectory is planned at first so that ZMP stays inside of the support polygon. Then, walking pattern is generated based on the trajectory. Conventional methods based on ZMP reference trajectory did not take the dynamics of bipedal locomotion into account. Therefore, the basis of the motion planning was ambiguous and the biped robot did not get human-like walking. This paper proposes ZMP reference trajectory generation with inverted pendulum model by using VSP (Virtual Supporting Point). With this, smooth ZMP reference trajectory based on the dynamics of the inverted pendulum is generated uniquely according to the desired stride and walking cycle.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 128 (6), 687-693, 2008
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679636188800
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- NII論文ID
- 10021134392
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 9532400
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可