Title :
Dynamic transition simulation of a walking anthropomorphic robot
Author :
Bruneau, Olivier ; Ouezdou, F. Ben ; Wieber, P.B.
Author_Institution :
Lab. de Robotique de Paris, France
Abstract :
This paper deals with an approach to carry out the transitions of a walking robot. A set of elementary transformations is proposed to modify the locomotion parameters allowing one to obtain various kinds of walks. Some simulation results are given
Keywords :
acceleration control; legged locomotion; motion control; robot dynamics; simulation; acceleration control; dynamic transition simulation; legged locomotion; reference gait generation; spatial transformation; walking anthropomorphic robot; Anthropomorphism; Chaos; Friction; Gravity; Humans; Kinematics; Leg; Legged locomotion; Polynomials; Robots;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677299
