TY - JOUR
T1 - Sensory-based walking motion instruction for biped humanoid robot
AU - Ogura, Yu
AU - Ando, Shumpei
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
N1 - Funding Information:
This study was conducted as part of the humanoid project at Humanoid Robotics Institute, Waseda University. This study was funded in part by JSPS (Japan Society for the Promotion of Science) under a Japanese Grant-in-Aid for Scientific Research and NEDO (New Energy and Industrial Technology Development Organization). The authors would like to thank Okino Industries Ltd., Harmonic Drive Systems Inc. and YKK Corporation for supporting the development of hardware.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2004/10/31
Y1 - 2004/10/31
N2 - This paper describes a sensory-based biped walking motion instruction strategy. Visual and auditory sensors are employed to generate walking patterns according to human orders and to memorize various complete walking patterns effectively and systematically. The motion of lower-limbs for locomotion is created by an online pattern generator based on the sensory information. At the same time, the motion of the trunk and the waist for stability is generated online by a balance control method. Combining these locomotive and balance motions, a complete walking pattern is hierarchically constructed and memorized on a database. The walking instruction is conducted through computer simulation, and its effectiveness is verified.
AB - This paper describes a sensory-based biped walking motion instruction strategy. Visual and auditory sensors are employed to generate walking patterns according to human orders and to memorize various complete walking patterns effectively and systematically. The motion of lower-limbs for locomotion is created by an online pattern generator based on the sensory information. At the same time, the motion of the trunk and the waist for stability is generated online by a balance control method. Combining these locomotive and balance motions, a complete walking pattern is hierarchically constructed and memorized on a database. The walking instruction is conducted through computer simulation, and its effectiveness is verified.
KW - Biped humanoid robot
KW - Walkin pattern generation
KW - Walking instruction
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U2 - 10.1016/j.robot.2004.07.002
DO - 10.1016/j.robot.2004.07.002
M3 - Article
AN - SCOPUS:4944241497
SN - 0921-8890
VL - 48
SP - 223
EP - 230
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 4 SPEC. ISS.
ER -