A novel method of biped walking pattern generation with predetermined knee joint motion

Yu Ogura*, Teruo Kataoka, Kazushi Shimomura, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

51 被引用数 (Scopus)

抄録

This paper describes a method of motion pattern generation for biped humanoid robot to walk like humans or walk with various kind of motions. To realize biped walking avoiding singularity at stretching leg, pattern generation uses predetermined knee joint trajectories. Reduction of DOF by predetermination is complemented by waist motion. The effectiveness of generated dynamic walking patterns is confirmed by using a 16-DOF biped robot WABIAN-2/LL.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ2831-2836
ページ数6
出版ステータスPublished - 2004
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
継続期間: 2004 9月 282004 10月 2

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
3

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
国/地域Japan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • 工学(全般)

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