Stretch Walking Pattern Generation for a Biped Humanoid Robot

Yu Ogura, Hun Ok Lim, Atsuo Takanishi

    研究成果: Conference contribution

    29 引用 (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.

    元の言語English
    ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
    ページ352-357
    ページ数6
    1
    出版物ステータスPublished - 2003
    イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV
    継続期間: 2003 10 272003 10 31

    Other

    Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Las Vegas, NV
    期間03/10/2703/10/31

    Fingerprint

    Robots

    ASJC Scopus subject areas

    • Control and Systems Engineering

    これを引用

    Ogura, Y., Lim, H. O., & Takanishi, A. (2003). Stretch Walking Pattern Generation for a Biped Humanoid Robot. : IEEE International Conference on Intelligent Robots and Systems (巻 1, pp. 352-357)

    Stretch Walking Pattern Generation for a Biped Humanoid Robot. / Ogura, Yu; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. 巻 1 2003. p. 352-357.

    研究成果: Conference contribution

    Ogura, Y, Lim, HO & Takanishi, A 2003, Stretch Walking Pattern Generation for a Biped Humanoid Robot. : IEEE International Conference on Intelligent Robots and Systems. 巻. 1, pp. 352-357, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 03/10/27.
    Ogura Y, Lim HO, Takanishi A. Stretch Walking Pattern Generation for a Biped Humanoid Robot. : IEEE International Conference on Intelligent Robots and Systems. 巻 1. 2003. p. 352-357
    Ogura, Yu ; Lim, Hun Ok ; Takanishi, Atsuo. / Stretch Walking Pattern Generation for a Biped Humanoid Robot. IEEE International Conference on Intelligent Robots and Systems. 巻 1 2003. pp. 352-357
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    abstract = "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.",
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    AB - 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.

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