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 |
| Publication status | Published - 2004 Dec |
| Externally published | Yes |
Fingerprint
Keywords
- Biped Walking Robot
- Humanoid Robot
- Stretch Walking
ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Stretch walking pattern generation for a biped humanoid robot. / Ogura, Yu; Lim, Hun Ok; Takanishi, Atsuo.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 70, No. 12, 12.2004, p. 3509-3515.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Stretch walking pattern generation for a biped humanoid robot
AU - Ogura, Yu
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2004/12
Y1 - 2004/12
N2 - 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.
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.
KW - Biped Walking Robot
KW - Humanoid Robot
KW - Stretch Walking
UR - http://www.scopus.com/inward/record.url?scp=15544365692&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=15544365692&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:15544365692
VL - 70
SP - 3509
EP - 3515
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 12
ER -