Stretch Walking Pattern Generation for a Biped Humanoid Robot

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2003, Pages 352-357

  Ogura, Yu ^a   Lim, Hun Ok ^a,b   Takanishi, Atsuo ^a  

^a WASEDA UNIVERSITY   (Japan)

^b KANAGAWA INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

HUMANOID ROBOTS; PATTERN GENERATION METHODS;

ALGORITHMS; BIPED LOCOMOTION; COMPUTER SIMULATION; COMPUTER SOFTWARE; DEGREES OF FREEDOM (MECHANICS); JOINTS (ANATOMY); ROBOTICS; VISION;

MOBILE ROBOTS;

EID: 0347410598     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. N. Kanehira, T. Kawasaki, S. Ohta, T. Isozumi, T. Kawada, F. Kanehiro, S. Kajita, and K. Kaneko, " Design and Experiments of Advanced Leg Module (HRP-2L) for Humanoid Robot (HRP-2) Development," Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems EPFL, Lausanne, Switzerland, Oct. 2002, pp. 2455-2460.
2. Y. Sakagami, R.Watanabe, C. Aoyama, S.Matsunaga, N. Higaki, K. Fujimura, "The intelligent ASIMO: System overview and integration," Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems EPFL, Lausanne, Switzerland, Oct. 2002, pp. 2478-2483.
3. S. Kagami, K. Nishiwaki, J. J. Kuffher Jr. Y. Kuniyoshi, M. Inaba, H. Inoue, "Online 3D Vision, Motion Planning and Bipedal Locomotion Control Coupling System of Humanoid Robot: H7," Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems EPFL, Lausanne, Switzerland, Oct. 2002, pp. 2557-2562
4. D. Wollherr, M. Hardt, M. Buss, O. V. Stryk, "Actuator Selection and Hardware Realization of a Small and Fast-Moving, Autonomous Humanoid Robot," Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems EPFL, Lausanne, Switzerland, Oct. 2002, pp. 2491-2496.
5. K. Endo, T. Maeno, and H. Kitano, "Co-evolution of Morphology and Walking Pattern of Biped Humanoid Robot using Evolutionary Computation-Consideration of characteristic of the servomotors-," Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems EPFL, Lausanne, Switzerland, Oct. 2002, pp. 2678-2683.
6. I. Kato, S. Ohteru, H. Kobayashi, K. Shirai, and A. Uchiyama, "Information-power machine with senses and limbs,"in Proc. CISM-IFToMM Symp. Theory and Practice of Robots and Manipulators, Udine, Italy, Sep. 1973, pp. 12-24.
7. A. Takanishi, H. O. Lim, M. Tsuda, and I. Kato, "Realization of dynamic biped walking stabilized by trunk motion on a sagitally uneven surface," in Proc. IEEE/RSJ Int. Workshop Intelligent Robots and Systems, Tsuchiura, Japan, Jul. 1990, pp. 323-329.
8. A. Takanishi, T. Takeya, H. Karaki, M. Kumeta, and I. Kato, "A control method for dynamic walking under unknown external force," in Proc. IEEE/RSJ Int. Workshop Intelligent Robots and Systems, Tsuchiura, Japan, Jul. 1990, pp. 795-801.
9. H. O. Lim, A. Ishii and A. Takanishi, "Motion pattern generation for emotion expression," in Proc. Int. Symp. Humanoid Robots, Tokyo, Japan, Oct. 1999, pp. 36-41.
10. H.O. Lim, Y. Kaneshima and A.Takanishi, "Online Walking Pattern Generation for Biped Humanoid with Trunk," in Proc. IEEE International Conference on Robotics & Automation, Washington, DC.,USA, May. 2002, pp. 3111-3116.
11. Y. Ogura, Y. Sugahara, Y. Kaneshima, N. Hieda, H.O. Lim and A. Takanishi, "Interactive Biped Locomotion Based on Visual/Auditory Information," Proceedings of the 2002 IEEE Int. Workshop on Robot and Human Interactive Communication, Berlin, Germany, Sept., 2002, pp. 253-258.
12. P. E. Klopsteg and P. D. Wilson, et. al., "Human Limbs and Their Substitutes," New York Hafner, 1963.