Abstract
An online walking pattern generation is important for a biped humanoid robot to move in dynamic environments. This chapter describes a novel online walking pattern generation using Fast Fourier Transform (FFT). Most previous studies about online walking pattern generation use an inverted pendulum model, which requires other methods to compensate for errors between the model and a real robot. Because our method uses a multi-body robot model, a biped robot can dynamically change its motions online by utilizing only the proposed method. If a robot has external sensors such as a stereo vision system to recognize dynamic environments, the robot can follow a moving target. Verification of the proposed method is conducted through experiments with the human-sized humanoid robots WABIAN-2R and KOBIAN.
| Original language | English |
|---|---|
| Title of host publication | Mechanisms and Machine Science |
| Publisher | Kluwer Academic Publishers |
| Pages | 417-438 |
| Number of pages | 22 |
| Volume | 29 |
| DOIs | |
| Publication status | Published - 2015 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 29 |
| ISSN (Print) | 22110984 |
| ISSN (Electronic) | 22110992 |
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Keywords
- Biped humanoid robot
- Fast Fourier transform
- Walking pattern
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
Cite this
Online walking pattern generation using FFT for humanoid robots. / Hashimoto, Kenji; Kondo, Hideki; Lim, Hun Ok; Takanishi, Atsuo.
Mechanisms and Machine Science. Vol. 29 Kluwer Academic Publishers, 2015. p. 417-438 (Mechanisms and Machine Science; Vol. 29).Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Online walking pattern generation using FFT for humanoid robots
AU - Hashimoto, Kenji
AU - Kondo, Hideki
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2015
Y1 - 2015
N2 - An online walking pattern generation is important for a biped humanoid robot to move in dynamic environments. This chapter describes a novel online walking pattern generation using Fast Fourier Transform (FFT). Most previous studies about online walking pattern generation use an inverted pendulum model, which requires other methods to compensate for errors between the model and a real robot. Because our method uses a multi-body robot model, a biped robot can dynamically change its motions online by utilizing only the proposed method. If a robot has external sensors such as a stereo vision system to recognize dynamic environments, the robot can follow a moving target. Verification of the proposed method is conducted through experiments with the human-sized humanoid robots WABIAN-2R and KOBIAN.
AB - An online walking pattern generation is important for a biped humanoid robot to move in dynamic environments. This chapter describes a novel online walking pattern generation using Fast Fourier Transform (FFT). Most previous studies about online walking pattern generation use an inverted pendulum model, which requires other methods to compensate for errors between the model and a real robot. Because our method uses a multi-body robot model, a biped robot can dynamically change its motions online by utilizing only the proposed method. If a robot has external sensors such as a stereo vision system to recognize dynamic environments, the robot can follow a moving target. Verification of the proposed method is conducted through experiments with the human-sized humanoid robots WABIAN-2R and KOBIAN.
KW - Biped humanoid robot
KW - Fast Fourier transform
KW - Walking pattern
UR - http://www.scopus.com/inward/record.url?scp=84941657959&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84941657959&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-14705-5_14
DO - 10.1007/978-3-319-14705-5_14
M3 - Chapter
AN - SCOPUS:84941657959
VL - 29
T3 - Mechanisms and Machine Science
SP - 417
EP - 438
BT - Mechanisms and Machine Science
PB - Kluwer Academic Publishers
ER -