Bipedal Walking Pattern Design by Synchronizing the Motions in the Sagittal and Lateral Planes

摘要

In this paper, a new design approach of bipedal walking pattern based on the synchronization of the motions in the sagittal and lateral planes are presented. With the discussion on the motions in these two planes, the fact is clarified that the motions in the sagittal and lateral planes are tightly coupled together. The motion parameters in the sagittal plane such as walking speed, walking time, and phase stride can be easily adjusted by altering the start and finish points of the double support phase in the lateral plane. Therefore, an approach for adjusting the walking speed by controlling the double support phase is naturally developed. Moreover, it is pointed out that a smooth and fast walking can be obtained by shortening the double support phase after a high speed is reached at the end of acceleration phase. Such a walking pattern is very similar to a walker's patter in walking race. The motion planning is also presented and a numerical example is given out. It is expected to apply this theory to a real bipedal robot and extend it to the jumping and running robot. (This paper is originally published in IEEJ Trans. IA, Vol. 126, No. 8, pp. 1069-1078, 2006)