Sensory-based walking motion instruction for biped humanoid robot

被引：20

作者：

Ogura, Y

Ando, S

Lim, HO

Takanishi, A

机构：

[1] Waseda Univ, Grad Sch Sci & Engn, Shinjuku Ku, Tokyo 1698555, Japan

[2] Kanagawa Inst Technol, Dept Syst Design Engn, Kanagawa 2430292, Japan

[3] Waseda Univ, Humanoid Robot Inst, Tokyo 1620044, Japan

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2004年 / 48卷 / 04期

关键词：

biped humanoid robot; walking instruction; walking pattern generation;

D O I：

10.1016/j.robot.2004.07.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

This paper describes a sensory-based biped walking motion instruction strategy. Visual and auditory sensors are employed to generate walking patterns according to human orders and to memorize various complete walking patterns effectively and systematically. The motion of lower-limbs for locomotion is created by an online pattern generator based on the sensory information. At the same time, the motion of the trunk and the waist for stability is generated online by a balance control method. Combining these locomotive and balance motions, a complete walking pattern is hierarchically constructed and memorized on a database. The walking instruction is conducted through computer simulation, and its effectiveness is verified. (C) 2004 Elsevier B.V. All rights reserved.

引用

页码：223 / 230

页数：8

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