Online walking pattern generation for biped humanoid robot with trunk

Hun Ok Lim, Yoshiharu Kaneshima, Atsuo Takanishi*

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

118 Citations (Scopus)


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
Pages (from-to)3111-3116
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2002
Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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