Stretch walking pattern generation for a biped humanoid robot

Yu Ogura; Hun Ok Lim; Atsuo Takanishi

doi:10.1299/kikaic.70.3509

Stretch walking pattern generation for a biped humanoid robot

Yu Ogura, Hun Ok Lim, Atsuo Takanishi

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

This paper describes a knee stretch walking for the biped robot having three degrees of freedom (DOF) in each ankle, one DOF in each knee, three DOF in each hip and two DOF in the waist. Firstly, the initial parameters, foot and waist trajectories and a knee joint trajectory of the supporting leg, are given. Secondly, the motion pattern of the swing leg is generated by inverse kinematics. Finally, the roll motion of the waist is used to avoid the singularity of the swing leg. Also, a compensatory motion algorithm is discussed in this paper, which cancels moments generated by the motion of the legs. Through stretch walking simulations, the effectiveness of the stretch walking pattern generation method is confirmed.

Original language	English
Pages (from-to)	3509-3515
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	70
Issue number	12
DOIs	https://doi.org/10.1299/kikaic.70.3509
Publication status	Published - 2004 Dec
Externally published	Yes

Keywords

Biped Walking Robot
Humanoid Robot
Stretch Walking

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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title = "Stretch walking pattern generation for a biped humanoid robot",

abstract = "This paper describes a knee stretch walking for the biped robot having three degrees of freedom (DOF) in each ankle, one DOF in each knee, three DOF in each hip and two DOF in the waist. Firstly, the initial parameters, foot and waist trajectories and a knee joint trajectory of the supporting leg, are given. Secondly, the motion pattern of the swing leg is generated by inverse kinematics. Finally, the roll motion of the waist is used to avoid the singularity of the swing leg. Also, a compensatory motion algorithm is discussed in this paper, which cancels moments generated by the motion of the legs. Through stretch walking simulations, the effectiveness of the stretch walking pattern generation method is confirmed.",

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AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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AB - This paper describes a knee stretch walking for the biped robot having three degrees of freedom (DOF) in each ankle, one DOF in each knee, three DOF in each hip and two DOF in the waist. Firstly, the initial parameters, foot and waist trajectories and a knee joint trajectory of the supporting leg, are given. Secondly, the motion pattern of the swing leg is generated by inverse kinematics. Finally, the roll motion of the waist is used to avoid the singularity of the swing leg. Also, a compensatory motion algorithm is discussed in this paper, which cancels moments generated by the motion of the legs. Through stretch walking simulations, the effectiveness of the stretch walking pattern generation method is confirmed.

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