Sensory-based walking motion instruction for biped humanoid robot

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

    Research output: Contribution to journalArticle

    8 Citations (Scopus)

    Abstract

    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
    Volume48
    Issue number4 SPEC. ISS.
    DOIs
    Publication statusPublished - 2004 Oct 31

    Fingerprint

    Biped Robot
    Humanoid Robot
    Locomotives
    Robots
    Motion
    Sensors
    Computer simulation
    Locomotion
    Computer Simulation
    Generator
    Sensor

    Keywords

    • Biped humanoid robot
    • Walkin pattern generation
    • Walking instruction

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Computational Mechanics

    Cite this

    Sensory-based walking motion instruction for biped humanoid robot. / Ogura, Yu; Ando, Shumpei; Lim, Hun Ok; Takanishi, Atsuo.

    In: Robotics and Autonomous Systems, Vol. 48, No. 4 SPEC. ISS., 31.10.2004, p. 223-230.

    Research output: Contribution to journalArticle

    Ogura, Yu ; Ando, Shumpei ; Lim, Hun Ok ; Takanishi, Atsuo. / Sensory-based walking motion instruction for biped humanoid robot. In: Robotics and Autonomous Systems. 2004 ; Vol. 48, No. 4 SPEC. ISS. pp. 223-230.
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