Optimal Foot Trajectory Planning of Bipedal Robots Based on a Measure of Falling : Pianificazione di traiettoria del piede ottimale per robot bipedi basata sulla misura della caduta, in: International Journal of Advanced Robotic Systems

Informazioni generali
Autore	Kim, Byoung-Ho
Pubblicato	InTech Open Access Publisher, 2012
edizione
Volume
ISBN
Abstract	This paper presents a falling‐based optimal foot trajectory planning method (FOFTP) for the effective walking of bipedal robots in three‐dimensional space. Our primary concern is to determine the optimal footstep location for the more balanced walking of bipedal robots based on a measure of falling. A proper strategy for the intermediate trajectory of the swing foot is also considered. The feasibility of the FOFTP method is verified by a typical bipedal walking simulation. We also discuss the walking efficiency of the proposed approach. It is finally shown that the proposed foot trajectory planning method is applicable for the effective walking of bipeds or humanoid robots.

Collections

		Articoli a Rivista
		2000 ed oltre

Superordinate work

International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004

Linked items

Documents:

International Journal of Advanced Robotic Systems

Permanent links

DMG-Lib		https://www.dmg-lib.org/dmglib/handler?docum=33593009
Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_33593009.html
PDF		Optimal Foot Trajectory Planning of Bipedal Robots Based on a Measure of Falling

Data provider

Univ. Cassino

http://webuser.unicas.it/weblarm/larmindex.htm

Administrative information

Time of publication		2012
License information		This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

Follow us

Newsletter

Optimal Foot Trajectory Planning of Bipedal Robots Based on a Measure of Falling : Pianificazione di traiettoria del piede ottimale per robot bipedi basata sulla misura della caduta, in: International Journal of Advanced Robotic Systems

Informazioni generali