Stretch walking pattern generation for a biped humanoid robot

Yu Ogura*, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Article査読

2 被引用数 (Scopus)

抄録

This paper describes a knee stretch walking for the biped robot having three degrees of freedom (DOF) in each ankle, one DOF in each knee, three DOF in each hip and two DOF in the waist. Firstly, the initial parameters, foot and waist trajectories and a knee joint trajectory of the supporting leg, are given. Secondly, the motion pattern of the swing leg is generated by inverse kinematics. Finally, the roll motion of the waist is used to avoid the singularity of the swing leg. Also, a compensatory motion algorithm is discussed in this paper, which cancels moments generated by the motion of the legs. Through stretch walking simulations, the effectiveness of the stretch walking pattern generation method is confirmed.

本文言語English
ページ(範囲)3509-3515
ページ数7
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
70
12
DOI
出版ステータスPublished - 2004 12
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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