JRM Vol.2 No.4 pp. 294-302
doi: 10.20965/jrm.1990.p0294


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

August 20, 1990
Trajectory planning, neural network, inverse kinematics, biped locomotive robot, inverted pendulum equation.

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.

Cite this article as:
Yasuo Kurematsu and Shinzo Kitamura, “Trajectory Generation of a Biped Locomotive Robot,” J. Robot. Mechatron., Vol.2, No.4, pp. 294-302, 1990.
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Last updated on Mar. 05, 2021