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Appl. Sci. 2018, 8(8), 1257;

Turning Gait Planning Method for Humanoid Robots

Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing 100081, China
Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
Author to whom correspondence should be addressed.
Received: 11 June 2018 / Revised: 12 July 2018 / Accepted: 24 July 2018 / Published: 30 July 2018
(This article belongs to the Special Issue Advanced Mobile Robotics)
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The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning. View Full-Text
Keywords: non-inertial reference frame; centrifugal force; turning model LIP; trajectory planning non-inertial reference frame; centrifugal force; turning model LIP; trajectory planning

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Yang, T.; Zhang, W.; Chen, X.; Yu, Z.; Meng, L.; Huang, Q. Turning Gait Planning Method for Humanoid Robots. Appl. Sci. 2018, 8, 1257.

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