Research on rapid walking of biped robot based on parametric surface table cart model

Wei Guo Wu; Yue Yang Hou

doi:10.1109/ROBIO.2009.5420691

Research on rapid walking of biped robot based on parametric surface table cart model

Wei Guo Wu^*
, Yue Yang Hou

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Stable walking conditions are reinforced for sliding & wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot is completed in the dynamic software, the walking speed is 2.088km/h.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	463-468
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420691
State	Published - 2009
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	19/12/09 → 23/12/09

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10.1109/ROBIO.2009.5420691

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@inproceedings{3c80ce6f6c6346f08afb46f661671b5e,

title = "Research on rapid walking of biped robot based on parametric surface table cart model",

abstract = "Stable walking conditions are reinforced for sliding \& wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot is completed in the dynamic software, the walking speed is 2.088km/h.",

author = "Wu, \{Wei Guo\} and Hou, \{Yue Yang\}",

year = "2009",

doi = "10.1109/ROBIO.2009.5420691",

language = "英语",

isbn = "9781424447756",

series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

pages = "463--468",

booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",

}

Wu, WG & Hou, YY 2009, Research on rapid walking of biped robot based on parametric surface table cart model. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420691, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 463-468, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 19/12/09. https://doi.org/10.1109/ROBIO.2009.5420691

Research on rapid walking of biped robot based on parametric surface table cart model. / Wu, Wei Guo; Hou, Yue Yang.
2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 463-468 5420691 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wu, Wei Guo

AU - Hou, Yue Yang

PY - 2009

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AB - Stable walking conditions are reinforced for sliding & wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot is completed in the dynamic software, the walking speed is 2.088km/h.

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DO - 10.1109/ROBIO.2009.5420691

M3 - 会议稿件

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SN - 9781424447756

T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

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BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Y2 - 19 December 2009 through 23 December 2009

ER -

Research on rapid walking of biped robot based on parametric surface table cart model

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