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.

fYear

2006

Firstpage

4786

Lastpage

4791

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;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.314937

Filename

4108526

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1605799