著者

小椋 優 林 憲玉 高西 淳夫

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.70, no.700, pp.3509-3515, 2004-12-25 (Released:2011-03-04)

参考文献数

12

被引用文献数

2 4

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This paper describes a knee stretch walking for the biped robot having three degrees of freedom (DOF) in each ankle, one DOF in each knee, three DOF in each hip and two DOF in the waist. Firstly, the initial parameters, foot and waist trajectories and a knee joint trajectory of the supporting leg, are given. Secondly, the motion pattern of the swing leg is generated by inverse kinematics. Finally, the roll motion of the waist is used to avoid the singularity of the swing leg. Also, a compensatory motion algorithm is discussed in this paper, which cancels moments generated by the motion of the legs. Through stretch walking simulations, the effectiveness of the stretch walking pattern generation method is confirmed.