Foot trajectory planning of bipedal walking robot based on a uniform acceleration method

Chunyu Jiang; Junyao Gao; Xuanyang Shi; Dingkui Tian; Qiang Huang

doi:10.1109/ARSO46408.2019.8948719

Foot trajectory planning of bipedal walking robot based on a uniform acceleration method

Chunyu Jiang, Junyao Gao^*, Xuanyang Shi, Dingkui Tian, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

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

3 Citations (Scopus)

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.

Original language	English
Title of host publication	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Publisher	IEEE Computer Society
Pages	251-255
Number of pages	5
ISBN (Electronic)	9781728131764
DOIs	https://doi.org/10.1109/ARSO46408.2019.8948719
Publication status	Published - Oct 2019
Event	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China Duration: 31 Oct 2019 → 2 Nov 2019

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume	2019-October
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Country/Territory	China
City	Beijing
Period	31/10/19 → 2/11/19

Keywords

Optimal torque
Simulation experiment
Trajectory planning
Uniform acceleration

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10.1109/ARSO46408.2019.8948719

Cite this

Jiang, C., Gao, J., Shi, X., Tian, D., & Huang, Q. (2019). Foot trajectory planning of bipedal walking robot based on a uniform acceleration method. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (pp. 251-255). Article 8948719 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948719

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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",

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booktitle = "2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019",

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Jiang, C, Gao, J, Shi, X, Tian, D & Huang, Q 2019, Foot trajectory planning of bipedal walking robot based on a uniform acceleration method. in 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019., 8948719, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, vol. 2019-October, IEEE Computer Society, pp. 251-255, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, 31/10/19. https://doi.org/10.1109/ARSO46408.2019.8948719

Foot trajectory planning of bipedal walking robot based on a uniform acceleration method. / Jiang, Chunyu; Gao, Junyao; Shi, Xuanyang et al.
2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society, 2019. p. 251-255 8948719 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October).

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

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T1 - Foot trajectory planning of bipedal walking robot based on a uniform acceleration method

AU - Jiang, Chunyu

AU - Gao, Junyao

AU - Shi, Xuanyang

AU - Tian, Dingkui

AU - Huang, Qiang

PY - 2019/10

Y1 - 2019/10

N2 - 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.

AB - 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.

KW - Optimal torque

KW - Simulation experiment

KW - Trajectory planning

KW - Uniform acceleration

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DO - 10.1109/ARSO46408.2019.8948719

M3 - Conference contribution

AN - SCOPUS:85078333070

T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

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BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019

PB - IEEE Computer Society

T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019

Y2 - 31 October 2019 through 2 November 2019

ER -

Jiang C, Gao J, Shi X, Tian D, Huang Q. Foot trajectory planning of bipedal walking robot based on a uniform acceleration method. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society. 2019. p. 251-255. 8948719. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). doi: 10.1109/ARSO46408.2019.8948719

Foot trajectory planning of bipedal walking robot based on a uniform acceleration method

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