Stretched knee walking with novel inverse kinematics for humanoid robots

Przemyslaw Kryczka, Kenji Hashimoto, Hideki Kondo, Aiman Omer, Hun Ok Lim, Atsuo Takanishi

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

10 Citations (Scopus)

Abstract

A four degrees of freedom (DoF) waist and trunk mechanism, as well as human-like foot, enable the humanoid robot WABIAN-2R to perform human-like walk with stretched knees, and heel-contact and toe-off gait phases. The inverse kinematics (IK) method, used in the present system, requires specification of not only task space reference trajectories, but also reference trajectories for all redundant DoFs. In this paper, we propose a novel, unified inverse kinematics method significantly simplifying the pattern generation. The method enables generation of the above described gait by specifying only the task space trajectories. We divide the forward locomotion task into subtasks with different priorities and combine them in the single IK equation. We also perform experiments in simulation environment as well as on WABIAN-2R, which prove that the method can be used to calculate IK for human-like gait. The equation evaluated in this paper is applied to the forward locomotion task, however it can be easily modified to perform other tasks on humanoid robots with different kinematic structures.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages3221-3226
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

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

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  • Cite this

    Kryczka, P., Hashimoto, K., Kondo, H., Omer, A., Lim, H. O., & Takanishi, A. (2011). Stretched knee walking with novel inverse kinematics for humanoid robots. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 3221-3226). [6048815] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048815