Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAMECH.2008.4681476
Title: Optimized joint-torques trajectory planning for bipedal walking robots
Authors: Dau, V.-H.
Chew, C.-M. 
Poo, A.-N. 
Issue Date: 2008
Source: Dau, V.-H., Chew, C.-M., Poo, A.-N. (2008). Optimized joint-torques trajectory planning for bipedal walking robots. 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 : 1142-1147. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2008.4681476
Abstract: This paper proposes a new method of trajectory planning for biped robots walking on flat terrain. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the hip and foot trajectories are searched by genetic algorithm. The objective is to obtain stable walking trajectory with minimized joint-torques requirement. ZMP stability criterion is used to ensure physically realizable walking motion. The effectiveness of our method is verified by simulation of a humanoid robot named NUSBIP-II. © 2008 IEEE.
Source Title: 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
URI: http://scholarbank.nus.edu.sg/handle/10635/73733
ISBN: 9781424416769
DOI: 10.1109/RAMECH.2008.4681476
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

2
checked on Dec 6, 2017

WEB OF SCIENCETM
Citations

1
checked on Nov 21, 2017

Page view(s)

14
checked on Dec 17, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.