TY - JOUR
T1 - Trajectory-free dynamic locomotion using key trend states for biped robots with point feet
AU - Han, Lianqiang
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Zhu, Xishuo
AU - Hashimoto, Kenji
AU - Huang, Qiang
N1 - Funding Information:
This work was supported by National Key Research and Development Program of China (Grant No. 2018YFE0126200) and National Natural Science Foundation of China (Grant Nos. 61973039, 62073041).
Publisher Copyright:
© 2022, Science China Press and Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2023/8
Y1 - 2023/8
N2 - This study proposed a human-inspired-based KTS design method and control framework for UBRs. A trajectory-free motion planning method was directly applied to joint angles, and it is simple and convenient to design KTSs according to human motion. We put forward several parts of the balance control method to achieve realtime dynamic and stable movement. This method can support large joint trajectory errors and avoid optimization of a complex model. Our methods can run and control the robot at 1 kHz. Based on this motion generation and control framework, we realized a walking experiment of the biped robot. This planning method has being used to generate a running motion.
AB - This study proposed a human-inspired-based KTS design method and control framework for UBRs. A trajectory-free motion planning method was directly applied to joint angles, and it is simple and convenient to design KTSs according to human motion. We put forward several parts of the balance control method to achieve realtime dynamic and stable movement. This method can support large joint trajectory errors and avoid optimization of a complex model. Our methods can run and control the robot at 1 kHz. Based on this motion generation and control framework, we realized a walking experiment of the biped robot. This planning method has being used to generate a running motion.
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U2 - 10.1007/s11432-021-3450-5
DO - 10.1007/s11432-021-3450-5
M3 - Letter
AN - SCOPUS:85139402843
SN - 1009-2757
VL - 66
JO - Science in China, Series F: Information Sciences
JF - Science in China, Series F: Information Sciences
IS - 8
M1 - 189201
ER -