Macro-walking instruction for biped humanoid robot

Yu Ogura, S. Ando, N. Hieda, Hun Ok Lim, Atsuo Takanishi

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

    2 Citations (Scopus)

    Abstract

    This paper describes a macro-walking instruction strategy for a biped humanoid robot to memorize complex walking patterns systematically and effectively. In teaching various walking motions, auditory sensors are employed. Based on the sensory information, the motion of lower-limbs is created in online by a pattern generator. At the same time, the motion of the trunk and the waist is generated in online by a balance control method for walking stability. A complete walking pattern is hierarchically constructed on the basis of basic and advanced walking patterns. Using WABIAN-RV, many experimental tests are conducted, and the effectiveness of the teaching strategy is verified.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages417-422
    Number of pages6
    Volume1
    ISBN (Print)0780377591
    DOIs
    Publication statusPublished - 2003
    Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
    Duration: 2003 Jul 202003 Jul 24

    Other

    Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
    CountryJapan
    CityKobe
    Period03/7/2003/7/24

    Fingerprint

    Macros
    Teaching
    Robots
    Sensors

    Keywords

    • Databases
    • Design engineering
    • Humanoid robots
    • Humans
    • Learning systems
    • Legged locomotion
    • Robot sensing systems
    • Robotics and automation
    • Service robots
    • Speech recognition

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Ogura, Y., Ando, S., Hieda, N., Lim, H. O., & Takanishi, A. (2003). Macro-walking instruction for biped humanoid robot. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 1, pp. 417-422). [1225132] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225132

    Macro-walking instruction for biped humanoid robot. / Ogura, Yu; Ando, S.; Hieda, N.; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. p. 417-422 1225132.

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

    Ogura, Y, Ando, S, Hieda, N, Lim, HO & Takanishi, A 2003, Macro-walking instruction for biped humanoid robot. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 1, 1225132, Institute of Electrical and Electronics Engineers Inc., pp. 417-422, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225132
    Ogura Y, Ando S, Hieda N, Lim HO, Takanishi A. Macro-walking instruction for biped humanoid robot. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1. Institute of Electrical and Electronics Engineers Inc. 2003. p. 417-422. 1225132 https://doi.org/10.1109/AIM.2003.1225132
    Ogura, Yu ; Ando, S. ; Hieda, N. ; Lim, Hun Ok ; Takanishi, Atsuo. / Macro-walking instruction for biped humanoid robot. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 417-422
    @inproceedings{da35810bd2a94854ba34821f5c26f4bd,
    title = "Macro-walking instruction for biped humanoid robot",
    abstract = "This paper describes a macro-walking instruction strategy for a biped humanoid robot to memorize complex walking patterns systematically and effectively. In teaching various walking motions, auditory sensors are employed. Based on the sensory information, the motion of lower-limbs is created in online by a pattern generator. At the same time, the motion of the trunk and the waist is generated in online by a balance control method for walking stability. A complete walking pattern is hierarchically constructed on the basis of basic and advanced walking patterns. Using WABIAN-RV, many experimental tests are conducted, and the effectiveness of the teaching strategy is verified.",
    keywords = "Databases, Design engineering, Humanoid robots, Humans, Learning systems, Legged locomotion, Robot sensing systems, Robotics and automation, Service robots, Speech recognition",
    author = "Yu Ogura and S. Ando and N. Hieda and Lim, {Hun Ok} and Atsuo Takanishi",
    year = "2003",
    doi = "10.1109/AIM.2003.1225132",
    language = "English",
    isbn = "0780377591",
    volume = "1",
    pages = "417--422",
    booktitle = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
    publisher = "Institute of Electrical and Electronics Engineers Inc.",

    }

    TY - GEN

    T1 - Macro-walking instruction for biped humanoid robot

    AU - Ogura, Yu

    AU - Ando, S.

    AU - Hieda, N.

    AU - Lim, Hun Ok

    AU - Takanishi, Atsuo

    PY - 2003

    Y1 - 2003

    N2 - This paper describes a macro-walking instruction strategy for a biped humanoid robot to memorize complex walking patterns systematically and effectively. In teaching various walking motions, auditory sensors are employed. Based on the sensory information, the motion of lower-limbs is created in online by a pattern generator. At the same time, the motion of the trunk and the waist is generated in online by a balance control method for walking stability. A complete walking pattern is hierarchically constructed on the basis of basic and advanced walking patterns. Using WABIAN-RV, many experimental tests are conducted, and the effectiveness of the teaching strategy is verified.

    AB - This paper describes a macro-walking instruction strategy for a biped humanoid robot to memorize complex walking patterns systematically and effectively. In teaching various walking motions, auditory sensors are employed. Based on the sensory information, the motion of lower-limbs is created in online by a pattern generator. At the same time, the motion of the trunk and the waist is generated in online by a balance control method for walking stability. A complete walking pattern is hierarchically constructed on the basis of basic and advanced walking patterns. Using WABIAN-RV, many experimental tests are conducted, and the effectiveness of the teaching strategy is verified.

    KW - Databases

    KW - Design engineering

    KW - Humanoid robots

    KW - Humans

    KW - Learning systems

    KW - Legged locomotion

    KW - Robot sensing systems

    KW - Robotics and automation

    KW - Service robots

    KW - Speech recognition

    UR - http://www.scopus.com/inward/record.url?scp=20544454425&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=20544454425&partnerID=8YFLogxK

    U2 - 10.1109/AIM.2003.1225132

    DO - 10.1109/AIM.2003.1225132

    M3 - Conference contribution

    AN - SCOPUS:20544454425

    SN - 0780377591

    VL - 1

    SP - 417

    EP - 422

    BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

    PB - Institute of Electrical and Electronics Engineers Inc.

    ER -