@inbook{8d30df8ea4304942b6f85c76c3ed084d,
title = "Online walking pattern generation using FFT for humanoid robots",
abstract = "An online walking pattern generation is important for a biped humanoid robot to move in dynamic environments. This chapter describes a novel online walking pattern generation using Fast Fourier Transform (FFT). Most previous studies about online walking pattern generation use an inverted pendulum model, which requires other methods to compensate for errors between the model and a real robot. Because our method uses a multi-body robot model, a biped robot can dynamically change its motions online by utilizing only the proposed method. If a robot has external sensors such as a stereo vision system to recognize dynamic environments, the robot can follow a moving target. Verification of the proposed method is conducted through experiments with the human-sized humanoid robots WABIAN-2R and KOBIAN.",
keywords = "Biped humanoid robot, Fast Fourier transform, Walking pattern",
author = "Kenji Hashimoto and Hideki Kondo and Lim, {Hun Ok} and Atsuo Takanishi",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015. Copyright: Copyright 2015 Elsevier B.V., All rights reserved.",
year = "2015",
doi = "10.1007/978-3-319-14705-5_14",
language = "English",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "417--438",
booktitle = "Mechanisms and Machine Science",
}