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Real-Time Walking Trajectory Generation Method With Three-Mass Models at Constant Body Height for Three-Dimensional Biped Robots

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3 Author(s)
Sato, T. ; Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan ; Sakaino, S. ; Ohnishi, K.

In this paper, a real-time walking trajectory generation method with three-mass models at constant body height for 3-D biped robots is extended for a diagonal walking. By realization of the diagonal walking, the availability is improved. The modeling of this method is more precise than that of conventional real-time walking trajectory generation methods. In this method, the zero-moment point equation of a body is derived, and an analytic solution of a body trajectory at a constant body height in a single support phase is obtained. Because the analytic solution is used, real-time trajectory generation can be realized. In addition, this method has advantages of the body trajectory at the constant body height. The validities are confirmed from simulations of the 2-D walking and an experiment of the 3-D diagonal walking.

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Industrial Electronics, IEEE Transactions on  (Volume:58 ,  Issue: 2 )