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

50 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
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume3

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period04/9/2804/10/2

Keywords

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

ASJC Scopus subject areas

  • Engineering(all)

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