Online walking pattern generation for biped humanoid robot with trunk

Hun Ok Lim, Yoshiharu Kaneshima, Atsuo Takanishi

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

    113 Citations (Scopus)

    Abstract

    This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP trajectory and the motion of the lower-limbs. Experimental tests of versatile biped walking on a plane surface are conducted using an auditory interface, and the validity of the online pattern generation method is verified.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages3111-3116
    Number of pages6
    Volume3
    Publication statusPublished - 2002
    Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
    Duration: 2002 May 112002 May 15

    Other

    Other2002 IEEE International Conference on Robotics adn Automation
    CountryUnited States
    CityWashington, DC
    Period02/5/1102/5/15

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    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Lim, H. O., Kaneshima, Y., & Takanishi, A. (2002). Online walking pattern generation for biped humanoid robot with trunk. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 3111-3116)