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Title
Japanese:空間量子化ダイナミクスの拡張による3次元二足歩行パターンの生成 
English:Biped Walking Pattern Generation Based on 3-dimensional Spatially Quantized Dynamics 
Author
Japanese: 大西 祐輝, 伊吹 竜也, 梶田 秀司, 三平 満司.  
English: Yuki Onishi, Tatsuya Ibuki, Shuuji Kajita, Mitsuji Sampei.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会2020講演論文集 
English: 
Volume, Number, Page         2A2-G10
Published date May 27, 2020 
Publisher
Japanese:一般社団法人 日本機械学会 
English: 
Conference name
Japanese:日本機械学会ロボティクス・メカトロニクス講演会2020 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.1299/jsmermd.2020.2a2-g10
Abstract This paper reviews a dynamics discretization method called spatially quantized dynamics (SQD)and shows that time scale transformation yields the SQD. Time scale transformation also derives con-tinuous spatial dynamics representations, which are equivalent to the original dynamics. By introducinga path parameter and path frames, the SQD are expanded into the 3-dimensional Euclidean space. Anefficient method to calculate actual time steps evolving system state is proposed. As a result, trajectoryoptimization using the proposed SQD enables a kinematic walking pattern to satisfy dynamic constraints,and how to generate a biped gait with stretched knees along an arc on a horizontal plane is presented.

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