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Item

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Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot

http://hdl.handle.net/20.500.12678/0000006933
af34e8c3-b3b7-4f4c-8469-17400a449d12
9f448c25-39a1-4d5b-b720-5dc39b825f25
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Mathematical Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot.pdf (4.2 MB)
Publication type
Conference paper
Upload type
Publication
Title
Title Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot
Language en
Publication date 2020-01-16
Authors
Aye Aye Thant
Khaing Khaing
Description
The key contribution of this paper is to generate the stable
hip trajectory for ascending stairs of the biped robot from the mathematical point of view.
To approach this goal, we first construct the mathematical model for kinematics constraints of step of ascending stairs and discuss the concept of hip trajectory relative to stability. From this, the stable hip trajectory for one cycle of ascending stairs step is derived by interpolation polynomial. Finally, the numerical result of the proposed trajectory is verified with Matlab figures. The present algorithm is also applicable for descending stairs of the biped robot.
Keywords
Ascending stairs, Biped Robot, Hip trajectory, Stable motion, Trajectory planning
Conference papers
MES
16-01-2020
The First National Conference on Engineering Research
Yangon, Myanmar
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