학술논문
1A1-F02 Generation of running motion using analytical solutions of the ZMP equation / 1A1-F02 ZMP方程式の解析解を用いた走行生成法(脚式移動ロボット・メカトロニクス)
Document Type
Journal Article
Author
Source
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2007, 1
Subject
Language
Japanese
ISSN
2424-3124
Abstract
This paper proposes a method to generate running motions for bipedal robots using analytic solutions. There are two phases in running gaits, the aerial phase and the supporting phase. The COG motion is constrained by the ZMP equation in the supporting phase. By adding a weak constraint to the vertical COG motion, the ZMP equation with vertical COG oscillation can be solved analytically. In the aerial phase the COG motion is constrained to a parabolic orbit. This method can generate COG motions simultaneously for both the supporting phase and the aerial phase. The validity of this method is demonstrated with computer simulations.