Stretch Walking Pattern Generation for a Biped Humanoid Robot

Yu Ogura; Hun Ok Lim; Atsuo Takanishi

Stretch Walking Pattern Generation for a Biped Humanoid Robot

Yu Ogura, Hun Ok Lim, Atsuo Takanishi

School of Creative Science and Engineering

Research output: Contribution to conference › Paper › peer-review

30 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 language	English
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

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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Cite this

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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.",

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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.

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