Cart (Loading....) | Create Account
Close category search window
 

Performance analysis of biped walking robot with circular feet using optimal trajectory planning method

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Hase, T. ; Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo ; Qingjiu Huang ; Xuedong Chen

In research of biped walking robot, energy-efficiency is an important issue. Full-actuated type robots using ZMP based control have high environmental adjustability and high robustness, but they consume much energy. On the other hand, passive dynamic walking type robots have high energy-efficiency, but they don't have high-environmental adjustability and robustness. Then, we have proposed an optimal trajectory planning method to obtain the energy-efficient walking under full-actuated model. In this paper, we used the circular feet model in walking performance analysis, and showed the advantageous effect of circular feet. Finally, we evaluated the energy-efficiency of our robot and other types of robots by using specific cost, and showed the effectiveness of this method.

Published in:

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Date of Conference:

22-25 Feb. 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.