Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots

Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

研究成果: Paper査読

6 被引用数 (Scopus)

抄録

We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible and stable on the full-scale multi-degree-of- freedom humanoid robot. The approach allows for very rapid gait pattern regeneration during the swing phase of motion and includes information about present dynamic state when regenerating the new pattern. The paper contains description of a developed method, as well as experimental results proving its effectiveness.

本文言語English
ページ1408-1413
ページ数6
DOI
出版ステータスPublished - 2013
イベント2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
継続期間: 2013 12 122013 12 14

Conference

Conference2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
国/地域China
CityShenzhen
Period13/12/1213/12/14

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • バイオテクノロジー
  • 人工知能

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