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: Contribution to conferencePaper

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
Pages1408-1413
Number of pages6
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
Duration: 2013 Dec 122013 Dec 14

Conference

Conference2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
CountryChina
CityShenzhen
Period13/12/1213/12/14

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

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  • 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. 1408-1413. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China. https://doi.org/10.1109/ROBIO.2013.6739663