Trajectory Generation of a Biped Locomotive Robot
Yasuo Kurematsu and Shinzo Kitamura
Dept. of Instrumentation Engineering, Kobe University, Rokkodai 1-1, Nada, Kobe-City 657, Japan
This paper studies the trajectory planning of a biped locomotive robot from the following standpoints. * Only the position and velocity of the center of gravity of robot in the forward direction for each step are given a priori. * It is supposed that the center of gravity of the robot moves like an inverted pendulum. * The neural network of Hopfield’s type solves the inverse kinematics so as to obtain the joint positions in the world coordinate from the positions of the supporting toes and of the center of gravity calculated from the equation of inverted pendulum. * The method was examined by simulation studies. They showed satisfactory results in stationary walking and also the robustness for impulsive disturbances. The proposed method therefore provides a simplified version for the autonomous trajectory planning.
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