Arbitrary Trajectory Foot Planner for Bipedal Walking

Ramil Khusainov; Artur Sagitov; Alexandr Klimchik; Evgeni Magid

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Paper

Arbitrary Trajectory Foot Planner for Bipedal Walking

Topics: Humanoid Robots; Modeling, Simulation and Architecture; Vehicle Control Applications

In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 417-424, 2017 , Madrid, Spain

Authors: Ramil Khusainov ¹ ; Artur Sagitov ² ; Alexandr Klimchik ¹ and Evgeni Magid ²

Affiliations: ¹ Innopolis University, Russian Federation ; ² Kazan Federal University, Russian Federation

Keyword(s): Foot Planner, Zero Moment Point, Preview Control.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation ; Vehicle Control Applications

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 several formats:

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; ISSN 2184-2809, SciTePress, pages 417-424. DOI: 10.5220/0006442504170424

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Khusainov, R.
AU - Sagitov, A.
AU - Klimchik, A.
AU - Magid, E.
PY - 2017
SP - 417
EP - 424
DO - 10.5220/0006442504170424
PB - SciTePress