| Abstract |
In recent years, studies about walking motion
of biped robots have been developed rapidly. In many
researches, biped robots are often treated as inverted
pendulums since the structure of biped robots are very
complicated. This simplification makes trajectory planning
for a biped robot easy. An inverted pendulum model,
however, gives some constraints to the robot.Walking motion
using one kind of inverted pendulum has low robustness of
walking. Hence, we propose a trajectory planning method
with combination of two kinds of inverted pendulums in
this paper. Trajectory planning of the swing leg for this
new method is also proposed. With these, more stable and
humanlike walking motion is achieved than that with one
kind of inverted pendulum. The proposed method is more
effective when a biped robot walks with lager range of
strides. |
