A New Trajectory Generation Scheme for Direction Turning in Biped Walking
Man-Seok Kim, Jo-Hwan Kim, Min-Goo Choi,
and Jong-Wook Kim
Department of Electronics Engineering, Dong-A University, 840 Hadan 2-dong, Saha-gu, Busan 604-714, Korea
This paper proposes a new trajectory generation scheme for direction turning during biped walking based on our previous study and experiences. For turning in walking, two joints in the sagittal plane should be added in the robot model, and each joint should rotate appropriately considering stability and landing precision. All the angular trajectories for 12 joints in the lower body are approximated by blending polynomials optimized by univariate Dynamic Encoding Algorithm for Searches (uDEAS). The proposed walking scheme is validated via simulation.
and Jong-Wook Kim, “A New Trajectory Generation Scheme for Direction Turning in Biped Walking,” J. Adv. Comput. Intell. Intell. Inform., Vol.14, No.5, pp. 550-554, 2010.
-  E. Kim, T. Kim, and J.-W. Kim, “Three-dimensional modeling of a humanoid in three planes and a motion scheme of biped turning in standing,” IET Control Theory and Application, Vol.3, No.9, pp. 1155-1166, Sept. 2009.
-  T. Kim and J.-W. Kim, “Planning walking patterns of a biped robot with uDEAS optimization,” Int. Conf. on Control, Automation, and Systems, pp. 2693-2698, COEX, Korea, Oct. 2007.
-  E. Kim, T. Kim, and J.-W. Kim, “Optimal trajectory generation for walking up a staircase of a biped robot using genetic algorithm (GA)”, 39th Int. Symposium on Robotics, pp. 713-717, Seoul, Korea, Oct. 2008.
-  Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K. Tanie, “Planning walking patterns for a biped robot,” IEEE Trans. on Robotics and Automation, Vol.17, No.3, pp. 280-289, June 2001.