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A real-time joint trajectory planner for dynamic walking bipeds in the sagittal plane

Published online by Cambridge University Press:  10 November 2005

J. Vermeulen ,
B. Verrelst ,
D. Lefeber ,
P. Kool  and
B. Vanderborght
J. Vermeulen
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
B. Verrelst
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
D. Lefeber
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
P. Kool
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
B. Vanderborght
Affiliation:
Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussels (Belgium)
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Abstract

A real-time joint trajectory generator for planar walking bipeds is proposed. This trajectory planner generates dynamically stable motion patterns by using a set of objective locomotion parameters as its input, and by tuning and exploiting the natural upper body dynamics. The latter can be determined and manipulated by using the angular momentum equation. Basically, trajectories for hip and swing foot motion are generated, which guarantee that the objective locomotion parameters attain certain prescribed values. Additionally, the hip trajectories are slightly modified such that the upper body motion is steered naturally, meaning that it requires practically no actuation. This has the advantage that the upper body actuation hardly influences the position of the Zero Moment Point. The effectiveness of the developed strategy is demonstrated by simulation results.

Keywords

Walking bipedReal-time trajectory planningNatural dynamicsAngular momentumObjective locomotion parameters
Type
Research Article
Information
Robotica , Volume 23 , Issue 6 , November 2005 , pp. 669 - 680
Copyright
© 2005 Cambridge University Press

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