Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model
Robotics
2014-05-14 v1
Abstract
In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the ankle of the swing leg's trajectory. The reduced model is finally obtained and solved: it is an homogeneous second order differential equations with constant coefficients. The algebraic solution obtained ensures a stable rhythmic gait for the bipedal robot. It's continuous in the defined time interval, easy to implement when the boundary conditions are well defined.
Keywords
Cite
@article{arxiv.1405.3103,
title = {Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model},
author = {Yosra Arous and Olfa Boubaker},
journal= {arXiv preprint arXiv:1405.3103},
year = {2014}
}
Comments
16th IEEE Mediterranean Electrotechnical Conference (MELECON), pp. 993-996, 25-28 March 2012, Yasmine Hammamet, Tunisia