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Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot
http://hdl.handle.net/20.500.12678/0000006933
http://hdl.handle.net/20.500.12678/0000006933af34e8c3-b3b7-4f4c-8469-17400a449d12
9f448c25-39a1-4d5b-b720-5dc39b825f25
Name / File | License | Actions |
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Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot.pdf (4.2 MB)
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Publication type | ||||||
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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. |
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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 |