Real time motion generation and control for biped robot: 1st report: walking gait pattern generation

Authors:
Toru Takenaka;Takashi Matsumoto;Takahide Yoshiike
Affiliations:
Fundamental Research Center, Honda Research & Development, Wako-shi, Saitama, Japan;Fundamental Research Center, Honda Research & Development, Wako-shi, Saitama, Japan;Fundamental Research Center, Honda Research & Development, Wako-shi, Saitama, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
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Abstract

Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called "the divergent component of motion". These techniques allow us to generate walking gait patterns with large margin from the edges of support polygon in real time.