Body trajectory generation using quadratic programming in bipedal robots
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Min. InJoon | - |
dc.contributor.author | Yoo. DongHa | - |
dc.contributor.author | Ahn. MinSung | - |
dc.contributor.author | Han. Jeakweon | - |
dc.date.accessioned | 2021-06-22T09:10:51Z | - |
dc.date.available | 2021-06-22T09:10:51Z | - |
dc.date.created | 2021-01-22 | - |
dc.date.issued | 2020-10 | - |
dc.identifier.issn | 1598-7833 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/1499 | - |
dc.description.abstract | The preview control walking method, which is commonly used in bipedal walking, requires jerk and ZMP errors as cost functions to generate body trajectory. Since the two inputs are dependent, optimization to form body trajectory is performed simultaneously with weight factors. Therefore, it is often seen that the resulting body trajectory rapidly changes on velocity according to the weight factors. This eventually requires a torque actuator in order to perform such action. In order to overcome this problem, we apply a method used on a quadruped to a bipedal robot. Since, it only targets to minimize the acceleration of the body trajectory, the body does not require rapid speed change. Also, this method can eliminate the computation time needed for preview control referred to preview time. When applying a quadruped robots walking method that has a relatively large support polygon than that of a bipedal robot, stability deterioration may occur. Therefore, we approached to secure ZMP constraints with relatively small support polygon area as within bipedal robots. In this paper we propose a body trajectory generation method that guarantees real-time stability while minimizing acceleration. © 2020 Institute of Control, Robotics, and Systems - ICROS. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE Computer Society | - |
dc.title | Body trajectory generation using quadratic programming in bipedal robots | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Han. Jeakweon | - |
dc.identifier.doi | 10.23919/ICCAS50221.2020.9268204 | - |
dc.identifier.scopusid | 2-s2.0-85098069525 | - |
dc.identifier.wosid | 000681746000041 | - |
dc.identifier.bibliographicCitation | International Conference on Control, Automation and Systems, v.2020-October, pp.251 - 257 | - |
dc.relation.isPartOf | International Conference on Control, Automation and Systems | - |
dc.citation.title | International Conference on Control, Automation and Systems | - |
dc.citation.volume | 2020-October | - |
dc.citation.startPage | 251 | - |
dc.citation.endPage | 257 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | Biped locomotion | - |
dc.subject.keywordPlus | Cost functions | - |
dc.subject.keywordPlus | Deterioration | - |
dc.subject.keywordPlus | Quadratic programming | - |
dc.subject.keywordPlus | Robot programming | - |
dc.subject.keywordPlus | Trajectories | - |
dc.subject.keywordPlus | Bipedal walking | - |
dc.subject.keywordPlus | Computation time | - |
dc.subject.keywordPlus | Preview control | - |
dc.subject.keywordPlus | Quadruped Robots | - |
dc.subject.keywordPlus | Support polygon | - |
dc.subject.keywordPlus | Torque actuators | - |
dc.subject.keywordPlus | Trajectory generation | - |
dc.subject.keywordPlus | Trajectory generation method | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordAuthor | Bipedal robot | - |
dc.subject.keywordAuthor | Body trajectory generation | - |
dc.subject.keywordAuthor | Quadratic Programming | - |
dc.subject.keywordAuthor | ZMP optimization | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9268204?arnumber=9268204&SID=EBSCO:edseee | - |
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