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Authors: Fernando Juan Berenguer Císcar 1 and Félix Monasterio-Huelin Maciá 2

Affiliations: 1 Escuela Superior Politécnica, Universidad Europea de Madrid, Spain ; 2 E.T.S.I. de Telecomunicación,Universidad Politécnica de Madrid, Spain

ISBN: 978-972-8865-83-2

Keyword(s): Trajectory planning, bipedal walking robot, chirp functions.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This work presents a method for planning sinusoidal trajectories for an actuated joint, so that the oscillation frequency follows linear profiles, like trapezoidal ones, defined by the user or by a high level planner. The planning method adds a cubic polynomial function for the last segment of the trajectory in order to reach a desired final position of the joint. We apply this planning method to an underactuated bipedal mechanism which gait is generated by the oscillatory movement of its tail. Using linear frequency profiles allow us to modify the speed of the mechanism and to study the efficiency of the system at different speed values.

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Paper citation in several formats:
Juan Berenguer Císcar F.; Monasterio-Huelin Maciá F. and (2007). TRAJECTORY PLANNING USING OSCILLATORY CHIRP FUNCTIONS APPLIED TO BIPEDAL LOCOMOTION.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 70-75. DOI: 10.5220/0001643600700075

@conference{icinco07,
author={Fernando {Juan Berenguer Císcar} and Félix {Monasterio{-}Huelin Maciá}},
title={TRAJECTORY PLANNING USING OSCILLATORY CHIRP FUNCTIONS APPLIED TO BIPEDAL LOCOMOTION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={70-75},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001643600700075},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - TRAJECTORY PLANNING USING OSCILLATORY CHIRP FUNCTIONS APPLIED TO BIPEDAL LOCOMOTION
SN - 978-972-8865-83-2
AU - Juan Berenguer Císcar, F.
AU - Monasterio-Huelin Maciá, F.
PY - 2007
SP - 70
EP - 75
DO - 10.5220/0001643600700075

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