Stretch Walking Pattern Generation for a Biped Humanoid Robot

Yu Ogura, Hun Ok Lim, Atsuo Takanishi

研究成果: Paper査読

32 被引用数 (Scopus)

抄録

This paper describes the knee stretch walking of the biped robot that has three degrees of freedom (DOF) in the ankle, one DOF in the knee and three DOF in the hip. To create the stable stretch walking pattern, a walking pattern generation method capable of specifying arbitrarily the knee joint angle is introduced. The singularity of the swing leg that can exist in single support phase will be avoided by the motion of the waist. The waist motion is calculated by a compensatory motion algorithm to cancel the moments generated by the motion of the lower-limbs. Through stretch walking simulations, the effectiveness of the pattern generation method is confirmed.

本文言語English
ページ352-357
ページ数6
出版ステータスPublished - 2003
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
継続期間: 2003 10 272003 10 31

Conference

Conference2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域United States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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