DocumentCode
426305
Title
A novel method of biped walking pattern generation with predetermined knee joint motion
Author
Ogura, Yu. ; Kataoka, Teruo ; Shimomura, Kazushi ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
Volume
3
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
2831
Abstract
This paper describes a method of motion pattern generation for biped humanoid robot to walk like humans or walk with various kind of motions. To realize biped walking avoiding singularity at stretching leg, pattern generation uses predetermined knee joint trajectories. Reduction of DOF by predetermination is complemented by waist motion. The effectiveness of generated dynamic walking patterns is confirmed by using a 16-DOF biped robot WABIAN-2/LL.
Keywords
humanoid robots; legged locomotion; WABIAN-2/LL; biped humanoid robot; biped walking pattern generation; predetermined knee joint motion; waist motion; Design engineering; Foot; Humanoid robots; Humans; Kinematics; Knee; Leg; Legged locomotion; Mechanical engineering; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389838
Filename
1389838
Link To Document