Stretch Walking Pattern Generation for a Biped Humanoid Robot

Yu Ogura, Hun Ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    29 Citations (Scopus)

    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 languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages352-357
    Number of pages6
    Volume1
    Publication statusPublished - 2003
    Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV
    Duration: 2003 Oct 272003 Oct 31

    Other

    Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CityLas Vegas, NV
    Period03/10/2703/10/31

    Fingerprint

    Robots

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Ogura, Y., Lim, H. O., & Takanishi, A. (2003). Stretch Walking Pattern Generation for a Biped Humanoid Robot. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 352-357)

    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 proceedingConference contribution

    Ogura, Y, Lim, HO & Takanishi, A 2003, Stretch Walking Pattern Generation for a Biped Humanoid Robot. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 352-357, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 03/10/27.
    Ogura Y, Lim HO, Takanishi A. Stretch Walking Pattern Generation for a Biped Humanoid Robot. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2003. p. 352-357
    Ogura, Yu ; Lim, Hun Ok ; Takanishi, Atsuo. / Stretch Walking Pattern Generation for a Biped Humanoid Robot. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2003. pp. 352-357
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