A fast dynamically equilibrated walking trajectory generation method of humanoid robot

Autonomous Robots

Volumn 12, Issue 1, 2002, Pages 71-82

  Kagami, Satoshi ^a   Kitagawa, Tomonobu ^b   Nishiwaki, Koichi ^b   Sugihara, Tomomichi ^b   Inaba, Masayuki ^b   Inoue, Hirochika ^b  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b UNIVERSITY OF TOKYO   (Japan)

Author keywords

Bipedal walking; Dynamically equilibrated walking trajectory; Humanoid robots

Indexed keywords

ALGORITHMS; BIPED LOCOMOTION; CONSTRAINT THEORY; MATHEMATICAL MODELS; MOTION CONTROL; MOTION PLANNING; SYSTEM STABILITY;

DYNAMICALLY EQUILIBRATED WALKING TRAJECTORY; HUMANOID ROBOTS;

MOBILE ROBOTS;

EID: 0036168467     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1013210909840     Document Type: Article

References (16)

1. Current and future perspective of Honda humanoid robot
2. Walking control system for legged robot
3. Walking control system for legged robot
4. Walking pattern generation system for legged robot
5. AutoBalancer: An online dynamic balance compensation scheme for humanoid robots
6. Experimental study of biped dynamic walking
7. On-line computational scheme for mechanical manipulators
8. Research on human-based genetic motion acquisition for humanoid
9. Stabilization of dynamic walk on a humanoid using torso position compliance control
10. Walking pattern generation for a humanoid robot based on optimal gradient method
11. Virtual model control of a bipedal walking robot
12. Development of "Z-DYNAFORM" - Library for dynamics analysis of rigid multibody
13. Efficient dynamic computer simulation of robotic mechanisms
14. Development of a biped walking robot compensating for three-axis moment by trunk motion
15. Dynamics filter-Concept and implementation of on-line motion generator for human figures