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JRM Vol.28 No.4 pp. 533-542
doi: 10.20965/jrm.2016.p0533
(2016)

Paper:

Bipedal Locomotion Control Based on Simultaneous Trajectory and Foot Step Planning

Kouta Goto, Yuichi Tazaki, and Tatsuya Suzuki

Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University
Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan

Received:
July 3, 2015
Accepted:
May 12, 2016
Published:
August 20, 2016
Keywords:
biped locomotion control, trajectory planning, model predictive control
Abstract

Bipedal Locomotion Control Based on Simultaneous Trajectory and Foot Step Planning

Snapshots of a bipedal robot walking forward (upper figure) and walking sideways (lower figure)

This paper proposes a trajectory planner for bipedal locomotion that determines a center-of-mass (CoM) trajectory, footsteps, and step durations simultaneously. Trajectory planning based on a linear inverted pendulum model is formulated as a nonlinear constraint satisfaction problem. The proposed iterative constraint solving algorithm is able to solve this problem in a short amount of time so that trajectory replanning at every walking step is possible. Unlike existing planning methods that determine footsteps and a CoM trajectory sequentially under fixed walking period, the proposed planner can produce complex walking patterns that fully utilize the interdependency of these physical quantities. The proposed trajectory planner and a trajectory tracking controller is implemented on a real robot and their performance is evaluated.

Cite this article as:
K. Goto, Y. Tazaki, and T. Suzuki, “Bipedal Locomotion Control Based on Simultaneous Trajectory and Foot Step Planning,” J. Robot. Mechatron., Vol.28, No.4, pp. 533-542, 2016.
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Last updated on Nov. 12, 2018