@inproceedings{8665a91ca03e41f398731a71a1af36c5,
title = "A novel method of biped walking pattern generation with predetermined knee joint motion",
abstract = "This paper describes a method of motion pattern generation for biped humanoid robot to walk like humans or walk with various kind of motions. To realize biped walking avoiding singularity at stretching leg, pattern generation uses predetermined knee joint trajectories. Reduction of DOF by predetermination is complemented by waist motion. The effectiveness of generated dynamic walking patterns is confirmed by using a 16-DOF biped robot WABIAN-2/LL.",
keywords = "Biped robot, Biped walking, Humanoid robot, Motion pattern generation, Stretch walking",
author = "Yu Ogura and Teruo Kataoka and Kazushi Shimomura and Lim, {Hun Ok} and Atsuo Takanishi",
year = "2004",
language = "English",
isbn = "0780384636",
series = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
pages = "2831--2836",
booktitle = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
note = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 28-09-2004 Through 02-10-2004",
}