A walking pattern generation for biped robot with parallel mechanism by considering contact force

IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243) Pub Date : 2001-12-01 DOI:10.1109/IECON.2001.975632

M. Morisawa, Y. Fujimoto, T. Murakami, K. Ohnishi

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引用次数: 13

Abstract

This paper describes a walking pattern generation of a biped robot with parallel mechanism. By using the parallel mechanism, all actuators have been arranged on the upper part of the body. The biped robot, whose leg is applied to a parallel linked structure, can be composed of a lightweight leg. Furthermore, the load torque of an actuator can be distributed. Therefore, the biped robot with parallel mechanism is suitable for walking. Such a biped robot can be regarded as 3 masses, that is body and two feet. State variables of three masses are defined in inertial space and these are represented by a time polynomial equation. A walking pattern is expressed by larger order of polynomials rather than the order which decided according to boundary conditions. By representing this, the walking pattern with which an evaluation function is satisfied is generable. In this paper, the second power sum of contact force of the robot is evaluated into time polynomial equation. The proposed method is very high extendibility. These approach is that a robot can adapt itself to various environment.

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考虑接触力的并联双足机器人行走模式生成

介绍了一种具有并联机构的双足机器人行走模式生成方法。通过采用并联机构，所有的执行机构都布置在阀体的上部。双足机器人的腿应用于并联连杆结构，可以由一个轻量级的腿组成。此外，执行机构的负载转矩可以进行分配。因此，采用并联机构的双足机器人适合行走。这种双足机器人可以看作是3个物体，即身体和两只脚。在惯性空间中定义三个质量的状态变量，用时间多项式方程表示。行走模式由大阶多项式表示，而不是由边界条件决定的阶数。通过表示这一点，可以生成满足评价函数的行走模式。本文将机器人接触力的二次幂和计算为时间多项式方程。该方法具有很高的可扩展性。这种方法使机器人能够适应各种环境。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)

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