Title :
A Smooth Planar Walking Algorithm for Virtual Walking Machine (K-Walker)
Author :
Park, Jangwoo ; Yoon, Jungwon ; Lim, Yo-An ; Ryu, Jeha
Author_Institution :
Dept. of Mechatronics, Gwangju Inst. of Sci. & Technol.
Abstract :
This paper proposes a novel planar walking algorithm for the virtual walking machine that is a dual foot platform type locomotion interface. Unlike existing algorithms, the proposed algorithm utilizes a constraint relationship between two platforms as well as position control. Experiments on the VWM show that the proposed planar walking algorithm can generate straight and turning motions which are smoother, collision-free
Keywords :
legged locomotion; position control; K-Walker; locomotion interface; smooth planar walking algorithm; virtual walking machine; Aerospace engineering; Belts; Foot; Humans; Legged locomotion; Mechatronics; Navigation; Position control; Turning; Virtual environment; Locomotion Interface; Navigation; Turning; Walking Algorithm;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314937
