In this paper, we address the problem of gait generation for bipedal robots. We cast the determination of a Center of Mass (CoM) reference trajectory for a given Zero Moment Point (ZMP) desired behaviour as a stable inversion problem for non-minimum phase systems and obtain an analytical solution for any given ZMP trajectory. Our method exploits results from our previous research, in which we derived a family of bounded CoM trajectories associated to a given desired ZMP trajectory.
Inversion-based gait generation for humanoid robots / Lanari, Leonardo; Hutchinson, Seth. - ELETTRONICO. - 2015:(2015), pp. 1592-1598. (Intervento presentato al convegno IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 tenutosi a Hamburg, Germany) [10.1109/IROS.2015.7353580].
Inversion-based gait generation for humanoid robots
LANARI, Leonardo
;
2015
Abstract
In this paper, we address the problem of gait generation for bipedal robots. We cast the determination of a Center of Mass (CoM) reference trajectory for a given Zero Moment Point (ZMP) desired behaviour as a stable inversion problem for non-minimum phase systems and obtain an analytical solution for any given ZMP trajectory. Our method exploits results from our previous research, in which we derived a family of bounded CoM trajectories associated to a given desired ZMP trajectory.| File | Dimensione | Formato | |
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