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 |
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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 |
巻 | 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月 11 → 2002 5月 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