Download PDFOpen PDF in browserCurrent versionStable Locomotion of a 12 DoF Biped by Planning Centre of Mass MotionEasyChair Preprint 13482, version 12 pages•Date: May 30, 2024AbstractThis work presents a stable locomotion of a 12 DoF biped using motion planning of its Centre of Mass (CoM). The biped is modelled as a 3-D Linear Inverted Pendulum (LIP). The walking pattern is generated using the CoM motion planner and foot pattern generator so that the CoM stays inside the Support Polygon (SP) created by feet during the locomotion. Ultimately, simulation and hardware results of biped locomotion using the proposed methodology are presented. Keyphrases: biped, locomotion, stability
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