KFU. Card publication. Arbitrary trajectory foot planner for bipedal walking

KAZAN
FEDERAL UNIVERSITY

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ARBITRARY TRAJECTORY FOOT PLANNER FOR BIPEDAL WALKING

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2017

Язык

английский

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Sagitov Artur Gazizovich, author

Bibliographic description in the original language

Khusainov R., Sagitov A., Klimchik A., Magid E. Arbitrary trajectory foot planner for bipedal walking // The 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017) (Madrid, Spain; 26-28 July 2017) - p. 417-424.

Annotation

Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017)

Keywords

Foot Planner, Zero Moment Point, Preview Control

The name of the journal

Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017)

URL

https://www.scitepress.org/Papers/2017/64425/64425.pdf

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257524&p_lang=2

Resource files

File name	Size (MB)	Format
F_2017_Arbitrary_trajectory_foot_planner_for_bipedal_walking.pdf	0,88	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Khusainov R., Sagitov A., Klimchik A., Magid E. Arbitrary trajectory foot planner for bipedal walking // The 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017) (Madrid, Spain; 26-28 July 2017) - p. 417-424.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257524&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017)	ru_RU
dc.description.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.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Foot Planner	ru_RU
dc.subject	Zero Moment Point	ru_RU
dc.subject	Preview Control	ru_RU
dc.title	Arbitrary trajectory foot planner for bipedal walking	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU