Knee-stretched Biped Gait Generation along Spatially Quantized Curves

Yuki Onishi; Shuuji Kajita; Tatsuya Ibuki; Mitsuji Sampei

IROS 2021poster8 citations

Knee-stretched Biped Gait Generation along Spatially Quantized Curves

Yuki Onishi, Shuuji Kajita, Tatsuya Ibuki, Mitsuji Sampei

Abstract

This paper presents a method for biped gait generation along a predefined curve with fully stretched knees. First, we design a spatial gait pattern as a function of the traveled distance on the path without considering dynamics. Then, a consistent dynamic walking motion is obtained by optimization that minimizes the zero-moment point and the speed errors while considering the trade-off between kinematics and dynamics. This method generalizes the spatially quantized dynamics-based gait generation, which is our former method restricted to straight paths, to walk on arbitrary curves. The generated gaits are validated by dynamic simulation.

BibTeX

@inproceedings{iros2021_kneestretchedbip,
  title = {Knee-stretched Biped Gait Generation along Spatially Quantized Curves},
  author = {Yuki Onishi and Shuuji Kajita and Tatsuya Ibuki and Mitsuji Sampei},
  booktitle = {IROS 2021},
  year = {2021}
}