摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 |
| 出版商 | IEEE Computer Society |
| 页 | 251-255 |
| 页数 | 5 |
| ISBN（电子版） | 9781728131764 |
| DOI | |
| 出版状态 | 已出版 - 10月 2019 |
| 活动 | 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, 中国 期限: 31 10月 2019 → 2 11月 2019 |
出版系列
| 姓名 | Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO |
|---|---|
| 卷 | 2019-October |
| ISSN（印刷版） | 2162-7568 |
| ISSN（电子版） | 2162-7576 |
会议
| 会议 | 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Beijing |
| 时期 | 31/10/19 → 2/11/19 |
指纹
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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. 在 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (页码 251-255). 文章 8948719 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; 卷 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948719