Abstract:
This paper presents a method for biped gait generation along a predefined curve with fully stretched knees. First, we design a spatial gait pattern as a function of the t...Show MoreMetadata
Abstract:
This paper presents a method for biped gait generation along a predefined curve with fully stretched knees. First, we design a spatial gait pattern as a function of the traveled distance on the path without considering dynamics. Then, a consistent dynamic walking motion is obtained by optimization that minimizes the zero-moment point and the speed errors while considering the trade-off between kinematics and dynamics. This method generalizes the spatially quantized dynamics-based gait generation, which is our former method restricted to straight paths, to walk on arbitrary curves. The generated gaits are validated by dynamic simulation.
Date of Conference: 27 September 2021 - 01 October 2021
Date Added to IEEE Xplore: 16 December 2021
ISBN Information:
ISSN Information:
Funding Agency:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Gait Generation ,
- Spatial Patterns ,
- Dynamics Simulations ,
- Gait Pattern ,
- Speed Error ,
- Walking Motion ,
- Time Step ,
- Footprint ,
- Asteraceae ,
- Walking Speed ,
- Joint Angles ,
- Thick Line ,
- Thin Line ,
- Humanoid Robot ,
- Walking Pattern ,
- Inverse Kinematics ,
- Bold Line ,
- Lower Graph ,
- Upper Graph ,
- Thick Black Line ,
- Center Of Mass Velocity ,
- Path Parameters ,
- Center Of Mass Motion ,
- Lift Off ,
- Thick Red Line ,
- Motion Generation ,
- Body Orientation ,
- Function Parameters ,
- System Dynamics ,
- Phase Transition
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Gait Generation ,
- Spatial Patterns ,
- Dynamics Simulations ,
- Gait Pattern ,
- Speed Error ,
- Walking Motion ,
- Time Step ,
- Footprint ,
- Asteraceae ,
- Walking Speed ,
- Joint Angles ,
- Thick Line ,
- Thin Line ,
- Humanoid Robot ,
- Walking Pattern ,
- Inverse Kinematics ,
- Bold Line ,
- Lower Graph ,
- Upper Graph ,
- Thick Black Line ,
- Center Of Mass Velocity ,
- Path Parameters ,
- Center Of Mass Motion ,
- Lift Off ,
- Thick Red Line ,
- Motion Generation ,
- Body Orientation ,
- Function Parameters ,
- System Dynamics ,
- Phase Transition
