Online walking pattern generation for biped humanoid robot with trunk

Hun Ok Lim, Yoshiharu Kaneshima, Atsuo Takanishi

研究成果: Conference article査読

115 被引用数 (Scopus)

抄録

This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP trajectory and the motion of the lower-limbs. Experimental tests of versatile biped walking on a plane surface are conducted using an auditory interface, and the validity of the online pattern generation method is verified.

本文言語English
ページ(範囲)3111-3116
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版ステータスPublished - 2002
イベント2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
継続期間: 2002 5 112002 5 15

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「Online walking pattern generation for biped humanoid robot with trunk」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル