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Amos Albert, Wilfried Gerth

Path Planning Algorithms for Bipedal Robots without a Trunk

This paper presents new path planning algorithms for bipedal robots, where the leg trajectories are responsible for the overall motion as well as the stability. Due to the successive refinement of the considered models the methods fill the gap between the concept of the Inverted Pendulum Mode (IPM) and approaches, based on general dynamic modeling. The suitability of the proposed methods is verified by simulations and measurement of the foot reaction forces during the walk of the existing biped BARt-UH.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 51, 01/2003
Pages: 013

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