Title :
Conceptual framework for designing humanoid locomotion control system
Author :
Tiong, Yap Kian ; Romyaldy
Author_Institution :
Sch. of Mechanical & Production Eng., Nanyang Technol. Univ., Singapore
Abstract :
This concept paper proposes a conceptual framework to guide the development of humanoid locomotion control system. It is built on the formal definition of stable and smooth humanoid locomotion [Romyaldy and K.T. Yap, 2004]. The current proposal is part of steps towards a "generic" framework for the realization of any humanoid locomotion in any environment. Some related works are also reported.
Keywords :
humanoid robots; legged locomotion; formal definition; humanoid locomotion control system design; smooth locomotion; stable locomotion; Control systems; Humans; Layout; Legged locomotion; Paper technology; Production engineering; Proposals; Robots; Stability;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438944
