Gait transitions for walking and running of biped robots
Gait transitions for walking and running of biped robots
复制标题
双足机器人行走和跑步的步态转换
DOI：
10.1109/robot.2003.1241779
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
J. Park
中科院分区：
文献类型：
--
作者：
O. Kwon;J. Park
本文提出了一种用于机器人快速运动的步行和跑步之间的步态转换算法。首先，考虑到步行和跑步在每一步或步幅期间发生的身体和腿的振荡不同，过渡轨迹是通过髋关节的速度，步高和步幅的脚，和一步的持续时间使用插值多项式的转换构造。为了提高机器人对环境的顺应性，并吸收着陆时的冲击力，设计了行走和奔跑两种机器人的阻抗控制器。计算机仿真结果表明，所提出的步态模式的有效性和性能与19自由度的仿人机器人和6自由度的弹性垫模型。
In this paper, we propose a gait transition algorithm between walking and running for fast movement of a biped robot. Firstly, considering that walking and running differ in the oscillations of the body and legs that occur during each step or stride, the transitionary trajectory is constructed by the transformations of the velocities of hip link, the step height and stride of the feet, and the duration of the step using interpolating polynomials. And in order to increase the compliance about the environment and to absorb the impact force in the landing event, the impedance controller is designed for walking and running biped robot. The effectiveness and the performance of the proposed gait patterns are shown in computer simulations with a 19-DOF biped robot and a 6-DOF elastic pad model.