Development of a light-weight biped humanoid robot

An effective trajectory generation method for bipedal walking

“…In the sagittal plane, the walking motion is generated by (3) in MMIPM, (10) in IPM, GCIPM and TMIPM and (12) in VHIPM. In the frontal plane, the walking motion is generated by (13) in MMIPM and (18) in VHIPM. The equations in the frontal plane for generating the walking motion in IPM, GCIPM and TMIPM can be obtained from (10) by replacing x with y because they have the same form as the equations in the sagittal plane.…”

“…Therefore, the ZMP trajectory of the robot during walking is the same as the ZMP error. ZMP trajectories can be computed from (1) and (2) or computed by ground reaction forces applied to the supporting foot as in [13,14]. In this paper, ZMP trajectories are computed from (1) and (2) using the position and acceleration trajectories of the point masses obtained in the simulation.…”

A Human-Like Approach to Footstep Planning

“…The footstep planner is explained in detail in section 5. Section 6 presents results of simulation of the proposed algorithm on a model of our humanoid robot 'Saika-3' (Konno et al, 2000) whereas section 7 concludes the chapter while highlighting salient future research prospects.…”

A plantar H-slit force sensor for humanoid robots to detect the reaction forces

“…Since the ZMP is equivalent to the center of pressure (COP) at the planta pedis, some humanoid robots are equipped with the pressure sensors at the sole of the each foot and detect the COP instead of ZMP (e.g. [7]). …”