Trajectory Generation for Bipedal Walking
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Prof. Dragoslav Šumarac & Prof. Dragoslav Kuzmanović
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The paper analyzes the mechanics of bipedal movement of a mobile robot and introduces the inverse mathematical pendulum model of the movement of the center of gravity of a humanoid mobile robot. The paper provides an analysis of the problem, a method for generating foot trajectories, and presents simulation results in the MATLAB® programming environment.
Keywords:
Bipedal locomotion / Linear inverted pendulum / Inverse kinematics / Mobile robot / Simulation / MatLab softwareSource:
Proceedings of the First Serbian (26th YU) Congress on Theoretical and Applied Mechanics, 2007, 939-948Publisher:
- Belgrade : Serbian Society of Mechanics
Funding / projects:
- Fleksibilna automatizacija i implementacija inteligentnih tehnoloških sistema u domenu proizvodnje delova od lima (RS-MESTD-MPN2006-2010-14031)
Note:
- (COBISS.SR-ID 138952460)
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Mašinski fakultetTY - CONF AU - Vuković, Najdan AU - Koruga, Đuro AU - Lazarević, Mihailo AU - Miljković, Zoran PY - 2007 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4970 AB - The paper analyzes the mechanics of bipedal movement of a mobile robot and introduces the inverse mathematical pendulum model of the movement of the center of gravity of a humanoid mobile robot. The paper provides an analysis of the problem, a method for generating foot trajectories, and presents simulation results in the MATLAB® programming environment. PB - Belgrade : Serbian Society of Mechanics C3 - Proceedings of the First Serbian (26th YU) Congress on Theoretical and Applied Mechanics T1 - Trajectory Generation for Bipedal Walking EP - 948 SP - 939 UR - https://hdl.handle.net/21.15107/rcub_machinery_4970 ER -
@conference{ author = "Vuković, Najdan and Koruga, Đuro and Lazarević, Mihailo and Miljković, Zoran", year = "2007", abstract = "The paper analyzes the mechanics of bipedal movement of a mobile robot and introduces the inverse mathematical pendulum model of the movement of the center of gravity of a humanoid mobile robot. The paper provides an analysis of the problem, a method for generating foot trajectories, and presents simulation results in the MATLAB® programming environment.", publisher = "Belgrade : Serbian Society of Mechanics", journal = "Proceedings of the First Serbian (26th YU) Congress on Theoretical and Applied Mechanics", title = "Trajectory Generation for Bipedal Walking", pages = "948-939", url = "https://hdl.handle.net/21.15107/rcub_machinery_4970" }
Vuković, N., Koruga, Đ., Lazarević, M.,& Miljković, Z.. (2007). Trajectory Generation for Bipedal Walking. in Proceedings of the First Serbian (26th YU) Congress on Theoretical and Applied Mechanics Belgrade : Serbian Society of Mechanics., 939-948. https://hdl.handle.net/21.15107/rcub_machinery_4970
Vuković N, Koruga Đ, Lazarević M, Miljković Z. Trajectory Generation for Bipedal Walking. in Proceedings of the First Serbian (26th YU) Congress on Theoretical and Applied Mechanics. 2007;:939-948. https://hdl.handle.net/21.15107/rcub_machinery_4970 .
Vuković, Najdan, Koruga, Đuro, Lazarević, Mihailo, Miljković, Zoran, "Trajectory Generation for Bipedal Walking" in Proceedings of the First Serbian (26th YU) Congress on Theoretical and Applied Mechanics (2007):939-948, https://hdl.handle.net/21.15107/rcub_machinery_4970 .