Body Trajectory Planning of Biped Robot Based on ZMP

• Sato Tomoya

  Department of System Design Engineering, Keio University

• Suzuki Tomoyuki

  Department of System Design Engineering, Keio University

• Shibuya Maki

  Department of System Design Engineering, Keio University

• Ohnishi Kouhei

  Department of System Design Engineering, Keio University

Bibliographic Information

Other Title

• ZMPを規範とした2足歩行ロボットの胴体軌道生成法
• ZMP オ キハン ト シタ 2ソク ホコウ ロボット ノ ドウタイ キドウ セイセイホウ

Abstract

In this paper, a body trajectory planning method of a biped robot based on ZMP (zero-moment point) is proposed. In the proposed method, the body of the biped robot is maintained at a constant height during walking. By this body trajectory, the biped robot walks stably without moving up and down the body height. Higher energy efficiency can be achieved by the proposed method than the conventional method that maintains a constant COG (center of gravity) height, since the biped robot walks with a higher body position and with less torque of joints. Additionally, the validity of the proposed method was confirmed by experiments of walking.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 129 (7), 738-747, 2009

  The Institute of Electrical Engineers of Japan

Keywords

• biped robot
• trajectory planning
• ZMP
• body trajectory
• single support phase
• double support phase

Details

• CRID: 1390001204657411200
• NII Article ID: 10025102224
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.129.738
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 10357511
• Web Site: http://id.ndl.go.jp/bib/10357511
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10357511
• Web Site: https://www.jstage.jst.go.jp/article/ieejias/129/7/129_7_738/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed