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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013649
