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Title
Japanese: 
English:Knee-Stretched Biped Gait Generation Along Spatially Quantized Curves 
Author
Japanese: 大西 祐輝, 梶田 秀司, 伊吹 竜也, 三平 満司.  
English: Yuki Onishi, Shuuji Kajita, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English: 
Volume, Number, Page         pp. 5120-5127
Published date Sept. 27, 2021 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English:2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Conference site
Japanese: 
English:Prague 
DOI https://doi.org/10.1109/IROS51168.2021.9636872
Abstract This paper presents a method for biped gait generation along a predefined curve with fully stretched knees. First, we design a spatial gait pattern as a function of the traveled distance on the path without considering dynamics. Then, a consistent dynamic walking motion is obtained by optimization that minimizes the zero-moment point and the speed errors while considering the trade-off between kinematics and dynamics. This method generalizes the spatially quantized dynamics-based gait generation, which is our former method restricted to straight paths, to walk on arbitrary curves. The generated gaits are validated by dynamic simulation.

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