Locomotion studies for a 5DoF gymnastic robot

Marion Sobotka, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

Legged locomotion with its variable contact situations between feet and ground is of interest in todays research on humanoid locomotion. This paper uses a hybrid modeling framework to account for different possible ground contact situations of a simple biped gymnast experimental platform with five joints. For the considered biped unactuated rotation around foot edges as well as plane foot contact is considered in modeling and trajectory planning. Presented is a planning algorithm for periodic walking trajectories. The stability of the resulting hybrid periodic orbits is investigated in numerical experiments.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages3275-3280
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Hybrid systems
  • Legged locomotion
  • Trajectory planning

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