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Gait Synthesis for a biped robot

Published online by Cambridge University Press:  01 November 1997

Ching-Long Shih
Ching-Long Shih
Affiliation:
Department of Electrical Engineering, National Taiwan Institute of Technology, 43, Section 4, Keelung Road, Taipei, Taiwan, 106, R.O.C. E-mail: shih@biped.ee.ntit.edu.tw
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Abstract

In this paper, the realization of biped walking on even floor, sloping surfaces, and stairs is studied. The motion trajectories for the biped's body and its two feet are modeled by piecewise cubic polynomials. The main features of the biped robot include two variable-length legs and a moving weight which can be positioned side-to-side for balance. The contribution of this paper is gait synthesis and is experimental verification.

Keywords

Biped robotGait synthesisCubic polynomialsVarious surfaces

Information

Type
Research Article
Information
Robotica , Volume 15 , Issue 6 , November 1997 , pp. 599 - 607
Copyright
© 1997 Cambridge University Press

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