Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Walking Pattern Analysis for Reducing Trajectory Tracking Error in a Biped Robot

이족보행로봇의 궤적 추종 오차 감소를 위한 걸음새 분석

  • 노경곤 (인하대학교 자동화공학과) ;
  • 공정식 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 전자ㆍ전기공학부)
  • Published : 2002.10.01
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Abstract

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

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References

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