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

^*此作品的通讯作者

机电学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

5 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
出版商	Institute of Electrical and Electronics Engineers Inc.
页	841-845
页数	5
ISBN（电子版）	9780738133645
DOI	https://doi.org/10.1109/ICARM52023.2021.9536057
出版状态	已出版 - 3 7月 2021
活动	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 - Chongqing, 中国期限: 3 7月 2021 → 5 7月 2021

出版系列

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

会议

会议	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
国家/地区	中国
市	Chongqing
时期	3/07/21 → 5/07/21

访问文件

10.1109/ICARM52023.2021.9536057

其它文件与链接

链接到 Scopus 的出版物

引用此

Chen, H., Chen, X., Yu, Z., Dong, C., Li, Q., Zhang, R., & Huang, Q. (2021). A swing-foot trajectory generation method for biped walking. 在 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 (页码 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 等. / 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. 页码 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",

month = jul,

day = "3",

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",

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

address = "United States",

}

Chen, H, Chen, X , Yu, Z, Dong, C, Li, Q, Zhang, R & Huang, Q 2021, A swing-foot trajectory generation method for biped walking. 在 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., 页码 841-845, 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Chongqing, 中国, 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 等.
2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. 页码 841-845 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - A swing-foot trajectory generation method for biped walking

AU - Chen, Huanzhong

AU - Chen, Xuechao

AU - Yu, Zhangguo

AU - Dong, Chencheng

AU - Li, Qingqing

AU - Zhang, Runming

AU - Huang, Qiang

PY - 2021/7/3

Y1 - 2021/7/3

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.

UR - http://www.scopus.com/inward/record.url?scp=85116210463&partnerID=8YFLogxK

U2 - 10.1109/ICARM52023.2021.9536057

DO - 10.1109/ICARM52023.2021.9536057

M3 - Conference contribution

AN - SCOPUS:85116210463

T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

SP - 841

EP - 845

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

Y2 - 3 July 2021 through 5 July 2021

ER -

Chen H, Chen X , Yu Z, Dong C, Li Q, Zhang R 等. A swing-foot trajectory generation method for biped walking. 在 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc. 2021. 页码 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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