Sensory-based walking motion instruction for biped humanoid robot

Yu Ogura*, Shumpei Ando, Hun Ok Lim, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)223-230
Number of pages8
JournalRobotics and Autonomous Systems
Issue number4 SPEC. ISS.
Publication statusPublished - 2004 Oct 31


  • Biped humanoid robot
  • Walkin pattern generation
  • Walking instruction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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