Trajectory Generation for a Biped Robot Using ELIPM

ELIPM을 이용한 이족보행로봇의 궤적생성

  • 박건우 (한양대학교 기계공학부) ;
  • 최시명 (한양대학교 기계공학부) ;
  • 박종현 (한양대학교 기계공학부)
  • Received : 2010.12.15
  • Accepted : 2011.04.13
  • Published : 2011.07.01


Trajectory generation is important because it determines the walking stability, continuity, and performance of a body in motion. Generally, the Linear Inverted Pendulum Mode is used for trajectory generation; however, for the sake of simplicity, the trajectory in this mode does not allow vertical motions and pitching motions of the body. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode (ELIPM) that allows vertical motion as well as pitching motion. This method can also improve the performance of locomotion by controlling the stride and locomotion frequency of a body.


Biped Robot;Trajectory Generation;Inverted Pendulum Model


Supported by : 한국학술진흥재단


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