Macro-walking instruction for biped humanoid robot

Yu Ogura, S. Ando, N. Hieda, Hun Ok Lim, A. 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 publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages417-422
Number of pages6
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume1

Other

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

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

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

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