人型ロボットのかかと接地・つま先離地による高速歩行のための遊脚軌道の設計

抄録

In this paper, we propose a bipedal trajectory planning method to realize fast and human-like walking. Based on existing studies on the center-of-mass trajectory of human walking, we design swing leg trajectory to reduce the lateral fluctuation of the center-of-mass trajectory of a humanoid robot. Generated trajectory was evaluated simulation and proved that proposed method can walk faster than previous methods. The simulation results also imply that proposed method is better than previous method at walking stability.