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Planning and control of COP-switch-based planar biped walking

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Abstract

Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human like walking structure. In this paper, a walking pattern based on Center of Pressure (COP) switched and modeled after human walking is introduced firstly. Then, a parameterization method for the proposed walking gait is presented. In view of the complication, a multi-space planning method which divides the whole planning task into three sub-spaces, including simplified model space, work space and joint space, is proposed. Furthermore, a finite-state-based control method is also developed to implement the proposed walking pattern. The state switches of this method are driven by sensor events. For convincing verification, a 2D simulation system with a 9-link planar biped robot is developed. The simulation results exhibit an efficient walking gait.

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Authors and Affiliations

  1. School of Mechanical Engineering, Southeast University, Nanjing, 210018, P. R. China

    X. Luo & W. Li

  2. Department of Systems Life Engineering, Maebashi Institute of Technology, Gunma Prefecture, 371-0816, Japan

    C. Zhu

Authors
  1. X. Luo
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  2. W. Li
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  3. C. Zhu
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Correspondence to X. Luo.

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Luo, X., Li, W. & Zhu, C. Planning and control of COP-switch-based planar biped walking. J Bionic Eng 8, 33–48 (2011). https://doi.org/10.1016/S1672-6529(11)60010-3

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  • DOI: https://doi.org/10.1016/S1672-6529(11)60010-3

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