Abstract
Using a cart-curved table model, a running trajectory generation method for humanoid robot was presented. Trajectory of center of mass for humanoid robot was planned in support phase and flight phase, respectively. Trajectory of center of mass for humanoid robot was planned by solving dynamic equation based on cart-curved table model in support phase. Center of mass for humanoid robot is parapolic movement in flight phase. At the same time, cubic interpolation method is used to plan foot trajectory in different phase. The simulation results show that humanoid robot is able to run stably. Our proposed methed is verified satisfactorily.
| Original language | English |
|---|---|
| Pages (from-to) | 295-297 |
| Number of pages | 3 |
| Journal | Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) |
| Volume | 39 |
| Issue number | SUPPL. 2 |
| State | Published - Nov 2011 |
| Externally published | Yes |
Keywords
- Cubic interpolation
- Dynamics
- Humanoid robot
- Kinematics
- Running robot
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