Online walking pattern generation using FFT for humanoid robots

Kenji Hashimoto; Hideki Kondo; Hun Ok Lim; Atsuo Takanishi

doi:10.1007/978-3-319-14705-5_14

Online walking pattern generation using FFT for humanoid robots

Kenji Hashimoto^*, Hideki Kondo, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Chapter

6 Citations (Scopus)

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
DOIs	https://doi.org/10.1007/978-3-319-14705-5_14
Publication status	Published - 2015

Publication series

Name	Mechanisms and Machine Science
Volume	29
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Keywords

Biped humanoid robot
Fast Fourier transform
Walking pattern

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

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10.1007/978-3-319-14705-5_14

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title = "Online walking pattern generation using FFT for humanoid robots",

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.",

keywords = "Biped humanoid robot, Fast Fourier transform, Walking pattern",

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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

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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

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Online walking pattern generation using FFT for humanoid robots

Abstract

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Keywords

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