TRAJECTORY PLANNING USING OSCILLATORY CHIRP FUNCTIONS APPLIED TO BIPEDAL LOCOMOTION

Fernando Juan Berenguer Císcar, Félix Monasterio-Huelin Maciá

Abstract

This work presents a method for planning sinusoidal trajectories for an actuated joint, so that the oscillation frequency follows linear profiles, like trapezoidal ones, defined by the user or by a high level planner. The planning method adds a cubic polynomial function for the last segment of the trajectory in order to reach a desired final position of the joint. We apply this planning method to an underactuated bipedal mechanism which gait is generated by the oscillatory movement of its tail. Using linear frequency profiles allow us to modify the speed of the mechanism and to study the efficiency of the system at different speed values.

References

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  11. Figure 7: Crossed distance and mechanical energy during
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Paper Citation


in Harvard Style

Juan Berenguer Císcar F. and Monasterio-Huelin Maciá F. (2007). TRAJECTORY PLANNING USING OSCILLATORY CHIRP FUNCTIONS APPLIED TO BIPEDAL LOCOMOTION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 70-75. DOI: 10.5220/0001643600700075


in Bibtex Style

@conference{icinco07,
author={Fernando Juan Berenguer Císcar and Félix Monasterio-Huelin Maciá},
title={TRAJECTORY PLANNING USING OSCILLATORY CHIRP FUNCTIONS APPLIED TO BIPEDAL LOCOMOTION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={70-75},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001643600700075},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - TRAJECTORY PLANNING USING OSCILLATORY CHIRP FUNCTIONS APPLIED TO BIPEDAL LOCOMOTION
SN - 978-972-8865-83-2
AU - Juan Berenguer Císcar F.
AU - Monasterio-Huelin Maciá F.
PY - 2007
SP - 70
EP - 75
DO - 10.5220/0001643600700075