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.
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