Online walking pattern generation using FFT for humanoid robots

Kenji Hashimoto, Hideki Kondo, Hun Ok Lim, Atsuo Takanishi

研究成果: Chapter

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルMechanisms and Machine Science
出版社Kluwer Academic Publishers
ページ417-438
ページ数22
DOI
出版ステータスPublished - 2015

出版物シリーズ

名前Mechanisms and Machine Science
29
ISSN(印刷版)2211-0984
ISSN(電子版)2211-0992

ASJC Scopus subject areas

  • 材料力学
  • 機械工学

フィンガープリント

「Online walking pattern generation using FFT for humanoid robots」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