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
fDate :
28 Sept.-2 Oct. 2004
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;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389838
