A swing-foot trajectory generation method for biped walking

Huanzhong Chen; Xuechao Chen; Zhangguo Yu; Chencheng Dong; Qingqing Li; Runming Zhang; Qiang Huang

doi:10.1109/ICARM52023.2021.9536057

A swing-foot trajectory generation method for biped walking

Huanzhong Chen, Xuechao Chen^*, Zhangguo Yu, Chencheng Dong, Qingqing Li, Runming Zhang, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

Pattern generation is the basis of balanced motion for biped robots, especially when highly dynamic motions are desired. For fast walking, convention pattern generation based on LIPM (linear inverted pendulum model) alone can’t guarantee balance of the robot, while pattern generation based on full-body dynamics takes a lot of time. This paper proposes a swing-foot trajectory generation method for biped walking, which aims to minimize the velocity and acceleration of swing leg. Experiment showed that biped walking of 4km/h can be achieved with optimized swing-foot trajectory.

Original language	English
Title of host publication	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	841-845
Number of pages	5
ISBN (Electronic)	9780738133645
DOIs	https://doi.org/10.1109/ICARM52023.2021.9536057
Publication status	Published - 3 Jul 2021
Event	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 - Chongqing, China Duration: 3 Jul 2021 → 5 Jul 2021

Publication series

Name	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

Conference

Conference	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Country/Territory	China
City	Chongqing
Period	3/07/21 → 5/07/21

Access to Document

10.1109/ICARM52023.2021.9536057

Cite this

Chen, H., Chen, X., Yu, Z., Dong, C., Li, Q., Zhang, R., & Huang, Q. (2021). A swing-foot trajectory generation method for biped walking. In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 (pp. 841-845). (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM52023.2021.9536057

Chen, Huanzhong ; Chen, Xuechao ; Yu, Zhangguo et al. / A swing-foot trajectory generation method for biped walking. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 841-845 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

@inproceedings{66189a1d2fed450fbcd015d387a3c71b,

title = "A swing-foot trajectory generation method for biped walking",

abstract = "Pattern generation is the basis of balanced motion for biped robots, especially when highly dynamic motions are desired. For fast walking, convention pattern generation based on LIPM (linear inverted pendulum model) alone can{\textquoteright}t guarantee balance of the robot, while pattern generation based on full-body dynamics takes a lot of time. This paper proposes a swing-foot trajectory generation method for biped walking, which aims to minimize the velocity and acceleration of swing leg. Experiment showed that biped walking of 4km/h can be achieved with optimized swing-foot trajectory.",

author = "Huanzhong Chen and Xuechao Chen and Zhangguo Yu and Chencheng Dong and Qingqing Li and Runming Zhang and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 ; Conference date: 03-07-2021 Through 05-07-2021",

year = "2021",

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doi = "10.1109/ICARM52023.2021.9536057",

language = "English",

series = "2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "841--845",

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Chen, H, Chen, X , Yu, Z, Dong, C, Li, Q, Zhang, R & Huang, Q 2021, A swing-foot trajectory generation method for biped walking. in 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Institute of Electrical and Electronics Engineers Inc., pp. 841-845, 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Chongqing, China, 3/07/21. https://doi.org/10.1109/ICARM52023.2021.9536057

A swing-foot trajectory generation method for biped walking. / Chen, Huanzhong; Chen, Xuechao ; Yu, Zhangguo et al.
2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 841-845 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Dong, Chencheng

AU - Li, Qingqing

AU - Zhang, Runming

AU - Huang, Qiang

PY - 2021/7/3

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N2 - Pattern generation is the basis of balanced motion for biped robots, especially when highly dynamic motions are desired. For fast walking, convention pattern generation based on LIPM (linear inverted pendulum model) alone can’t guarantee balance of the robot, while pattern generation based on full-body dynamics takes a lot of time. This paper proposes a swing-foot trajectory generation method for biped walking, which aims to minimize the velocity and acceleration of swing leg. Experiment showed that biped walking of 4km/h can be achieved with optimized swing-foot trajectory.

AB - Pattern generation is the basis of balanced motion for biped robots, especially when highly dynamic motions are desired. For fast walking, convention pattern generation based on LIPM (linear inverted pendulum model) alone can’t guarantee balance of the robot, while pattern generation based on full-body dynamics takes a lot of time. This paper proposes a swing-foot trajectory generation method for biped walking, which aims to minimize the velocity and acceleration of swing leg. Experiment showed that biped walking of 4km/h can be achieved with optimized swing-foot trajectory.

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M3 - Conference contribution

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BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

PB - Institute of Electrical and Electronics Engineers Inc.

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Chen H, Chen X , Yu Z, Dong C, Li Q, Zhang R et al. A swing-foot trajectory generation method for biped walking. In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 841-845. (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021). doi: 10.1109/ICARM52023.2021.9536057

A swing-foot trajectory generation method for biped walking

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