Abstract
This paper describes the knee stretch walking of the biped robot that has three degrees of freedom (DOF) in the ankle, one DOF in the knee and three DOF in the hip. To create the stable stretch walking pattern, a walking pattern generation method capable of specifying arbitrarily the knee joint angle is introduced. The singularity of the swing leg that can exist in single support phase will be avoided by the motion of the waist. The waist motion is calculated by a compensatory motion algorithm to cancel the moments generated by the motion of the lower-limbs. Through stretch walking simulations, the effectiveness of the pattern generation method is confirmed.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Pages | 352-357 |
| Number of pages | 6 |
| Volume | 1 |
| Publication status | Published - 2003 |
| Event | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV Duration: 2003 Oct 27 → 2003 Oct 31 |
Other
| Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| City | Las Vegas, NV |
| Period | 03/10/27 → 03/10/31 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Stretch Walking Pattern Generation for a Biped Humanoid Robot. / Ogura, Yu; Lim, Hun Ok; Takanishi, Atsuo.
IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2003. p. 352-357.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Stretch Walking Pattern Generation for a Biped Humanoid Robot
AU - Ogura, Yu
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2003
Y1 - 2003
N2 - This paper describes the knee stretch walking of the biped robot that has three degrees of freedom (DOF) in the ankle, one DOF in the knee and three DOF in the hip. To create the stable stretch walking pattern, a walking pattern generation method capable of specifying arbitrarily the knee joint angle is introduced. The singularity of the swing leg that can exist in single support phase will be avoided by the motion of the waist. The waist motion is calculated by a compensatory motion algorithm to cancel the moments generated by the motion of the lower-limbs. Through stretch walking simulations, the effectiveness of the pattern generation method is confirmed.
AB - This paper describes the knee stretch walking of the biped robot that has three degrees of freedom (DOF) in the ankle, one DOF in the knee and three DOF in the hip. To create the stable stretch walking pattern, a walking pattern generation method capable of specifying arbitrarily the knee joint angle is introduced. The singularity of the swing leg that can exist in single support phase will be avoided by the motion of the waist. The waist motion is calculated by a compensatory motion algorithm to cancel the moments generated by the motion of the lower-limbs. Through stretch walking simulations, the effectiveness of the pattern generation method is confirmed.
UR - http://www.scopus.com/inward/record.url?scp=0347410598&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0347410598&partnerID=8YFLogxK
M3 - Conference contribution
VL - 1
SP - 352
EP - 357
BT - IEEE International Conference on Intelligent Robots and Systems
ER -