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 |
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| Pages | 352-357 |
| Number of pages | 6 |
| Publication status | Published - 2003 Dec 26 |
| Event | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31 |
Conference
| Conference | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country | United States |
| City | Las Vegas, NV |
| Period | 03/10/27 → 03/10/31 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
Ogura, Y., Lim, H. O., & Takanishi, A. (2003). Stretch Walking Pattern Generation for a Biped Humanoid Robot. 352-357. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.