DocumentCode
1870348
Title
Running pattern generation for a humanoid robot
Author
Kajita, Shuuji ; Nagasaki, Takashi ; YOKOI, Kazuhito ; KANEKO, Kenji ; Tanie, Kazuo
Author_Institution
Agency of Ind. Sci. & Technol., Ibaraki, Japan
Volume
3
fYear
2002
fDate
2002
Firstpage
2755
Lastpage
2761
Abstract
A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. The dynamic simulation using a model of an actual humanoid robot shows that the robot can run by applying a generated pattern with slight modifications. The simulation is used to evaluate the required performance of the actuators for an actual running robot
Keywords
actuators; digital simulation; legged locomotion; motion control; pendulums; robot dynamics; actuators; continuous vertical hopping; dynamic simulation; humanoid robot; inverted pendulum; lateral motion; mobile robot; running pattern generation; sagittal motion; Computational modeling; Computer simulation; Electronic mail; Foot; Hardware; Humanoid robots; Humans; Hydraulic actuators; Leg; Legged locomotion;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013649
Filename
1013649
Link To Document