A novel method of biped walking pattern generation with predetermined knee joint motion

Yu Ogura, Teruo Kataoka, Kazushi Shimomura, Hun Ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    51 Citations (Scopus)

    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.

    Original languageEnglish
    Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages2831-2836
    Number of pages6
    Volume3
    Publication statusPublished - 2004
    Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai
    Duration: 2004 Sep 282004 Oct 2

    Other

    Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    CitySendai
    Period04/9/2804/10/2

    Fingerprint

    Robots
    Stretching
    Trajectories

    Keywords

    • Biped robot
    • Biped walking
    • Humanoid robot
    • Motion pattern generation
    • Stretch walking

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Ogura, Y., Kataoka, T., Shimomura, K., Lim, H. O., & Takanishi, A. (2004). A novel method of biped walking pattern generation with predetermined knee joint motion. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 3, pp. 2831-2836)

    A novel method of biped walking pattern generation with predetermined knee joint motion. / Ogura, Yu; Kataoka, Teruo; Shimomura, Kazushi; Lim, Hun Ok; Takanishi, Atsuo.

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 3 2004. p. 2831-2836.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Ogura, Y, Kataoka, T, Shimomura, K, Lim, HO & Takanishi, A 2004, A novel method of biped walking pattern generation with predetermined knee joint motion. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 3, pp. 2831-2836, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, 04/9/28.
    Ogura Y, Kataoka T, Shimomura K, Lim HO, Takanishi A. A novel method of biped walking pattern generation with predetermined knee joint motion. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 3. 2004. p. 2831-2836
    Ogura, Yu ; Kataoka, Teruo ; Shimomura, Kazushi ; Lim, Hun Ok ; Takanishi, Atsuo. / A novel method of biped walking pattern generation with predetermined knee joint motion. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 3 2004. pp. 2831-2836
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