Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots

Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

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

    5 Citations (Scopus)

    Abstract

    We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible and stable on the full-scale multi-degree-of- freedom humanoid robot. The approach allows for very rapid gait pattern regeneration during the swing phase of motion and includes information about present dynamic state when regenerating the new pattern. The paper contains description of a developed method, as well as experimental results proving its effectiveness.

    Original languageEnglish
    Title of host publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
    PublisherIEEE Computer Society
    Pages1408-1413
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen
    Duration: 2013 Dec 122013 Dec 14

    Other

    Other2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
    CityShenzhen
    Period13/12/1213/12/14

    Fingerprint

    Gait
    Robots
    Dynamical systems
    Regeneration

    Keywords

    • bipedal locomotion
    • humanoid robots
    • LIP
    • natural dynamics
    • pattern generation
    • preview control
    • real-time control
    • ZMP

    ASJC Scopus subject areas

    • Computer Science Applications
    • Biotechnology
    • Artificial Intelligence

    Cite this

    Kryczka, P., Shiguematsu, Y. M., Kormushev, P., Hashimoto, K., Lim, H. O., & Takanishi, A. (2013). Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots. In 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 (pp. 1408-1413). [6739663] IEEE Computer Society. https://doi.org/10.1109/ROBIO.2013.6739663

    Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots. / Kryczka, Przemyslaw; Shiguematsu, Yukitoshi Minami; Kormushev, Petar; Hashimoto, Kenji; Lim, Hun Ok; Takanishi, Atsuo.

    2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society, 2013. p. 1408-1413 6739663.

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

    Kryczka, P, Shiguematsu, YM, Kormushev, P, Hashimoto, K, Lim, HO & Takanishi, A 2013, Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots. in 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013., 6739663, IEEE Computer Society, pp. 1408-1413, 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, 13/12/12. https://doi.org/10.1109/ROBIO.2013.6739663
    Kryczka P, Shiguematsu YM, Kormushev P, Hashimoto K, Lim HO, Takanishi A. Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots. In 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society. 2013. p. 1408-1413. 6739663 https://doi.org/10.1109/ROBIO.2013.6739663
    Kryczka, Przemyslaw ; Shiguematsu, Yukitoshi Minami ; Kormushev, Petar ; Hashimoto, Kenji ; Lim, Hun Ok ; Takanishi, Atsuo. / Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots. 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society, 2013. pp. 1408-1413
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