| A Modified Gait Planning Method for Biped Robot Based on Central Pattern Generators | |
| Xue Zhang; Jing Xiong; Shaokui Weng; Huang Li; Ming Chen; Yangzhou Gan; Qunfei Zhao; Zeyang Xia | |
| 2015 | |
| 会议名称 | IEEE International Conference on Information and Automation （ICIA） |
| 会议地点 | Lijiang |
| 英文摘要 | The gait planning is essential in the samplingbased footstep planning of biped robot. However, conventional gait planning methods of Zero Moment Point and neural networks are much time-consuming, and existing central pattern generator (CPG) based method can only generate the gait of going forward. Based on the phase and trajectory analysis, this paper proposes a modified gait planning method based on CPG for the sampling-based footstep planning. By adjusting the parameter of the CPG, it is available to obtain different gaits of going forward, stepping side and swerving, and realize smooth transition between these gaits. Physical experiments on NAO robot verified the effectiveness of the proposed method. |
| 收录类别 | EI |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/6742]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2015 |
| 推荐引用方式 GB/T 7714 | Xue Zhang,Jing Xiong,Shaokui Weng,et al. A Modified Gait Planning Method for Biped Robot Based on Central Pattern Generators[C]. 见:IEEE International Conference on Information and Automation （ICIA）. Lijiang. |
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