Stable running velocity change of biped robot based on virtual torque
- Authors
- Cho, Jae Uk; Yeon, Je Sung; Park, Jong Hyeon
- Issue Date
- Dec-2012
- Publisher
- IEEE
- Citation
- 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp.301 - 306
- Indexed
- SCOPUS
- Journal Title
- 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
- Start Page
- 301
- End Page
- 306
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/163992
- DOI
- 10.1109/ROBIO.2012.6490983
- Abstract
- This paper proposes a method to generate a stable running trajectory for a biped robot based on virtual torque at the stepping foot for velocity changes. For a velocity change, an external force is necessary, which is generated by moving the ZMP (Zero Moment Point). Moving the ZMP has the same effect as applying a virtual torque at the foot on the ground. By using this method, the velocity of a biped robot can be changed. When a running trajectory for a biped robot is generated based on its model modeled with a single particle, the dynamics of the real robot which has relatively large mass of the swing legs could make the biped robot motion unstable. Based on the gravity-compensated inverted pendulum model with the virtual torque at the stepping foot, a trajectory resulting in stable velocity changes is generated. The effectiveness and the improvements in the performance of the proposed method were shown in computer simulations with a 2D biped robot.
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