In this paper, an optimized gait pattern generation is produced for a three dimensional bipedal robot using a Minimum Jerk criterion in the single support phase. Three approaches are introduced and compared in this framework. The Minimum Jerk based control approaches are the point-to-point, the Via-point and the shape function trajectory. Simulation results show that the point-to-point Minimum Jerk-based control cannot be satisfactory since the supposed swinging leg of the bipedal robot doesńt lift off the ground. However, a bipedal stable human-like movement is guaranteed using both last approaches. © 2011 Springer-Verlag.
CITATION STYLE
Aloulou, A., & Boubaker, O. (2011). Minimum Jerk-based control for a three dimensional bipedal robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7102 LNAI, pp. 251–262). https://doi.org/10.1007/978-3-642-25489-5_25
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