Title :
Macro-walking instruction for biped humanoid robot
Author :
Ogura, Yu. ; Ando, Sbumpei ; Hieda, Naoki ; Lim, Hun-ok ; Takanishi, A.
Author_Institution :
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
Abstract :
This paper describes a macro-walking instruction strategy for a biped humanoid robot to memorize complex walking patterns systematically and effectively. In teaching various walking motions, auditory sensors are employed. Based on the sensory information, the motion of lower-limbs is created in online by a pattern generator. At the same time, the motion of the trunk and the waist is generated in online by a balance control method for walking stability. A complete walking pattern is hierarchically constructed on the basis of basic and advanced walking patterns. Using WABIAN-RV, many experimental tests are conducted, and the effectiveness of the teaching strategy is verified.
Keywords :
legged locomotion; motion control; speech recognition; speech-based user interfaces; stability; WABIAN-RV; auditory sensor; balance control method; biped humanoid robot; macrowalking instruction; pattern generator; sensory information; trunk motion; waist motion; walking motion; walking pattern; walking stability; Databases; Design engineering; Humanoid robots; Humans; Learning systems; Legged locomotion; Robot sensing systems; Robotics and automation; Service robots; Speech recognition;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225132
