A running trajectory generation method for humanoid robot

作者：Wang Xianfeng^*; Hong Bingrong; Piao Songhao; Xu Xiandong

来源：Journal of Huazhong University of Science and Technology (Natural Science Edition), 2011, 39(SUPPL. 2): 295-297.

• Center of mass
• Cubic interpolation
• Cubic-interpolation methods
• Dynamic equations
• Flight phase
• Humanoid robot
• Running robots
• Support phase
• Trajectory generation method

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.

• 出版日期2011