Realization of walking by FFT-based online pattern generation

Hldeki Kondo, Juri Shimizu, Kenji Hashimoto, Kentaro Hattori, Kosuke Nishikawa, Yuki T. Akezaki, Yuichiro Hama, Yuki Yoshimura, Hun Ok Lim, Atsuo Takanishi

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

    3 Citations (Scopus)

    Abstract

    This paper describes about an online pattern generation based on FFT (Fast Fourier Transform). Until now, authors have adopted the offline FFT-based pattern generation. However, it's needed to regard the compensated moment from starting walking to stopping as a periodic function and it's difficult to generate a part of walking pattern. As a solution, it's found that the compensatory waist trajectory for the compensated moment which is cut out with a window of predetermined duration is proper only in the center part of the window. That means the whole trajectory is obtained as a series of the partial ones. Therefore, the online pattern generation is realized by generating a partial trajectories in the proposed way while walking.

    Original languageEnglish
    Title of host publicationMobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
    Pages615-622
    Number of pages8
    Publication statusPublished - 2010
    Event12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 - Istanbul
    Duration: 2009 Sep 92009 Sep 11

    Other

    Other12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
    CityIstanbul
    Period09/9/909/9/11

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    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

    Cite this

    Kondo, H., Shimizu, J., Hashimoto, K., Hattori, K., Nishikawa, K., Akezaki, Y. T., Hama, Y., Yoshimura, Y., Lim, H. O., & Takanishi, A. (2010). Realization of walking by FFT-based online pattern generation. In Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 (pp. 615-622)