Arbitrary trajectory foot planner for bipedal walking

Khusainov R.; Klimchik A.; Magid E.; Sagitov A.

dc.contributor.author	Khusainov R.
dc.contributor.author	Sagitov A.
dc.contributor.author	Klimchik A.
dc.contributor.author	Magid E.
dc.date.accessioned	2018-04-05T07:10:20Z
dc.date.available	2018-04-05T07:10:20Z
dc.date.issued	2017
dc.identifier.uri	http://dspace.kpfu.ru/xmlui/handle/net/130383
dc.description.abstract	© 2017 by SCITEPRESS - Science and Technology Publications, Lda. All Rights Reserved. This paper presents a foot planner algorithm for bipedal walking along an arbitrary curve. It takes a parametrically defined desired path as an input and calculates feet positions and orientations at each step. Number of steps that are required to complete the path depends on a maximum step length and maximum foot rotation angle at each step. Provided with results of the foot planner, our walking engine successfully performs robot locomotion. Verification tests were executed with AR601M humanoid robot.
dc.subject	Foot planner
dc.subject	Preview control
dc.subject	Zero moment point
dc.title	Arbitrary trajectory foot planner for bipedal walking
dc.type	Conference Paper
dc.relation.ispartofseries-volume	2
dc.collection	Публикации сотрудников КФУ
dc.relation.startpage	417
dc.source.id	SCOPUS-2017-2-SID85029394279