An analytical method on real-time gait planning for a humanoid robot

2004 4th IEEE-RAS International Conference on Humanoid Robots

Volumn 2, Issue , 2004, Pages 640-655

  Harada, Kensuke ^a   Kajita, Shuuji ^a   Kaneko, Kenji ^a   Hirukawa, Hirohisa ^a  

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

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; GAIT ANALYSIS; GRAVITATION; MOTION PLANNING; REAL TIME SYSTEMS; ROBOT APPLICATIONS;

CENTER OF GRAVITY (COG); HUMANOID ROBOT; QUASI-REAL-TIME METHODS; ZERO MOMENT POINT (ZMP);

ROBOTICS;

EID: 17144368815     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. M. Vukobratovic and D. Juricic: "Contribution to the Synthesis of Biped Gait", IEEE Trans. on Bio-Med. Eng., vol. BME-16, no. 1, pp. 1-6, 1969.
2. A. Takanishi, M. Ishida, Y. Yamazaki, and I. Kato: "The Realization of Dynamic Walking by the Biped Walking Robot", Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 459-466, 1985.
3. K.Nagasaka, H.Inoue, and M.Inaba: "Dynamic Walking PatternGeneration for a Humanoid Robot Based on Optimal Gradient Method", Proc. of IEEE Int. Conf. on Systems, Man., and Cybernetics, pp. VI-908-913, 1999.
4. S.Kagami, K.Nishiwaki, T.Kitagawa, T.Sugihara, M.Inaba, and H.Inoue: "A Fast Generation Method of a Dynamically Stable Humanoid Robot Trajectory with Enhanced ZMP Constrain", Proc. of the 2000 IEEE-RAS Int. Conf. on Humanoid, 2000.
5. S. Kajita, T. Yamaura, and A. Kobayashi: "Dynamic Walking Control of a Biped Robot Along a Potential Energy Conserving Orbit", IEEE Trans. Robot, and Automat., vol. 8, no. 4, pp. 431-438, 1992.
6. S.Kajita et al.: "Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point", Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1620-1626, 2003.
7. R. Kurazume, T. Hasegawa, and K. Yoneda: "The Sway Compensation Trajectory for a Biped Robot", 'Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 925-931, 2003.
8. H.-O. Lim, Y. Kaneshima, and A. Takanishi: "Online Walking Pattern Generation for Biped Humanoid Robot with Trunk", 'Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3111-3116, 2002.
9. K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue: "Online Generation of Humanoid Walking Motion based on a Fast Generation Method of Motion Pattern that Follows Desired ZMP", 'Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2684-2689, 2002.
10. T. Takenaka: "Gait Generation Device for a Legged Mobile Robot", Japanese Patent Application H10-217161, 1998.
11. T. Takenaka: "Motion Generation Device for a Legged Mobile Robot", Japanese Patent Application 2002-217161, 2002.
12. F. Kanehiro et al.: "Virtual humanoid robot platform to develop controllers of real humanoid robots without porting", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2001.
13. H. Hirukawa et al.: "OpenHRP: Open Architecture Humanoid Robot Platform", Proc. of Int. Symp. on Robotics Research, 2001.
14. S.Kajita et al.: "Resolved Momentum Control: Humanoid Motion Planning based on the Linear and Angular Momentum", Proc. of IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1644-1650, 2003.
15. K. Kaneko et al.: "The Humanoid Robot HRP2", Proc. of IEEE Int. Conf. on Robotics and Automation, 2004.
16. K. Harada et al.: "Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation", Proc. of IEEE Int. Conf. on Robotics and Automation, 2004.