대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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두발 로봇의 계단 보행궤적 생성방법

Trajectory generation method for bipedal walking on the stairs

  • 박찬수 (서울대학교 전기공학부) ;
  • 최종호 (서울대학교 전기공학부) ;
  • 하태신 (서울대학교 전기공학부)
  • 발행 : 2006.10.27
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초록

In this paper, we propose the trajectory generation method for bipedal walking on the stairs. This method is based on multi-masses inverted pendulum mode (MMIPM). MMIPM can effectively reduce the ZMP error but it is only applied to walking on the flat ground. In order to reduce ZMP error when a robot walks on the stairs, we generate the walking motion by MMIPM and modify that motion using parametric functions. We determine the values of the parameters by the simulations. Simulation results show that the robot can walk more stable on the stairs.

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