Arbitrary Trajectory Foot Planner for Bipedal Walking

Ramil Khusainov, Artur Sagitov, Alexandr Klimchik, Evgeni Magid

Abstract

This paper presents a foot planner algorithm for bipedal walking along an arbitrary curve. It takes a parametrically defined desired path as an input and calculates feet positions and orientations at each step. Number of steps that are required to complete the path depends on a maximum step length and maximum foot rotation angle at each step. Provided with results of the foot planner, our walking engine successfully performs robot locomotion. Verification tests were executed with AR601M humanoid robot.

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Paper Citation


in Harvard Style

Khusainov R., Sagitov A., Klimchik A. and Magid E. (2017). Arbitrary Trajectory Foot Planner for Bipedal Walking . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 417-424. DOI: 10.5220/0006442504170424


in Bibtex Style

@conference{icinco17,
author={Ramil Khusainov and Artur Sagitov and Alexandr Klimchik and Evgeni Magid},
title={Arbitrary Trajectory Foot Planner for Bipedal Walking},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={417-424},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006442504170424},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Arbitrary Trajectory Foot Planner for Bipedal Walking
SN - 978-989-758-264-6
AU - Khusainov R.
AU - Sagitov A.
AU - Klimchik A.
AU - Magid E.
PY - 2017
SP - 417
EP - 424
DO - 10.5220/0006442504170424