Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking

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  • Hanazawa Yuta
    Department of Applied Science for Integrated System Engineering, Graduate School of Engineering, Kyushu Institute of Technology
  • Asano Fumihiko
    School of Information Science, Japan Advanced Institute of Science and Technology

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Abstract

<p>This study presents a novel swing-leg control strategy for speed-up of biped robot walking. The trajectory of tip of the swing-leg is asymmetric at the center line of the torso in the sagittal plane for this process. A methodology is proposed that enables robots to achieve the synchronized asymmetric swing-leg motions with the stance-leg angle to accelerate their walking speed. The effectiveness of the proposed method was simulated using numerical methods.</p>

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