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

    9 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 publicationIEEE International Conference on Intelligent Robots and Systems
    Pages3221-3226
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA
    Duration: 2011 Sep 252011 Sep 30

    Other

    Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
    CitySan Francisco, CA
    Period11/9/2511/9/30

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    ASJC Scopus subject areas

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

    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 IEEE International Conference on Intelligent Robots and Systems (pp. 3221-3226). [6048815] https://doi.org/10.1109/IROS.2011.6048815