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

    Fingerprint

    Fast Fourier transforms
    Trajectories

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

    Cite this

    Kondo, H., Shimizu, J., Hashimoto, K., Hattori, K., Nishikawa, K., Akezaki, Y. T., ... 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)

    Realization of walking by FFT-based online pattern generation. / Kondo, Hldeki; Shimizu, Juri; Hashimoto, Kenji; Hattori, Kentaro; Nishikawa, Kosuke; Akezaki, Yuki T.; Hama, Yuichiro; Yoshimura, Yuki; Lim, Hun Ok; Takanishi, Atsuo.

    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. 2010. p. 615-622.

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

    Kondo, H, Shimizu, J, Hashimoto, K, Hattori, K, Nishikawa, K, Akezaki, YT, Hama, Y, Yoshimura, Y, Lim, HO & 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, 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009, Istanbul, 09/9/9.
    Kondo H, Shimizu J, Hashimoto K, Hattori K, Nishikawa K, Akezaki YT et al. 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. 2010. p. 615-622
    Kondo, Hldeki ; Shimizu, Juri ; Hashimoto, Kenji ; Hattori, Kentaro ; Nishikawa, Kosuke ; Akezaki, Yuki T. ; Hama, Yuichiro ; Yoshimura, Yuki ; Lim, Hun Ok ; Takanishi, Atsuo. / Realization of walking by FFT-based online pattern generation. 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. 2010. pp. 615-622
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    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.",
    author = "Hldeki Kondo and Juri Shimizu and Kenji Hashimoto and Kentaro Hattori and Kosuke Nishikawa and Akezaki, {Yuki T.} and Yuichiro Hama and Yuki Yoshimura and Lim, {Hun Ok} and Atsuo Takanishi",
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    AU - Shimizu, Juri

    AU - Hashimoto, Kenji

    AU - Hattori, Kentaro

    AU - Nishikawa, Kosuke

    AU - Akezaki, Yuki T.

    AU - Hama, Yuichiro

    AU - Yoshimura, Yuki

    AU - Lim, Hun Ok

    AU - Takanishi, Atsuo

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