@inproceedings{8d2c1a3894bf49539bd05f0adaeb4dd9,
title = "Foot trajectory planning of bipedal walking robot based on a uniform acceleration method",
abstract = "This paper proposes a uniform acceleration method to plan the trajectory of the biped robot walking process. This method decreases the peak acceleration of the foot during the walking process of the robot, optimizes the hip joint torque, and reduces the risk of motor overrun at the hip joint. Meanwhile, the Center of Mass (CoM) and foot trajectory formulas are derived in this paper, and the effectiveness and feasibility of this method are also verified by simulation experiment.",
keywords = "Optimal torque, Simulation experiment, Trajectory planning, Uniform acceleration",
author = "Chunyu Jiang and Junyao Gao and Xuanyang Shi and Dingkui Tian and Qiang Huang",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 ; Conference date: 31-10-2019 Through 02-11-2019",
year = "2019",
month = oct,
doi = "10.1109/ARSO46408.2019.8948719",
language = "English",
series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",
publisher = "IEEE Computer Society",
pages = "251--255",
booktitle = "2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019",
address = "United States",
}