Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model

📝 Original Info

• Title: Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model
• ArXiv ID: 1405.3103
• Date: 2014-05-14
• Authors: Researchers from original ArXiv paper

📝 Abstract

In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the ankle of the swing leg's trajectory. The reduced model is finally obtained and solved: it is an homogeneous second order differential equations with constant coefficients. The algebraic solution obtained ensures a stable rhythmic gait for the bipedal robot. It's continuous in the defined time interval, easy to implement when the boundary conditions are well defined.

💡 Deep Analysis

Deep Dive into Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model.

In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the ankle of the swing leg’s trajectory. The reduced model is finally obtained and solved: it is an homogeneous second order differential equations with constant coefficients. The algebraic solution obtained ensures a stable rhythmic gait for the bipedal robot. It’s continuous in the defined time interval, easy to implement when the boundary conditions are well defined.

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