Real-time gait planning for pushing motion of humanoid robot

IEEE Transactions on Industrial Informatics

Volumn 3, Issue 2, 2007, Pages 154-163

  Motoi, Naoki ^a,b   Ikebe, Motomi ^b   Ohnishi, Kouhei ^a,b  

^a IEEE   (Japan)

^b KEIO UNIVERSITY   (Japan)

Author keywords

Biped robot; Humanoid robot; Pushing motion; Reaction force; Real time gait planning; Unknown object; Walking robot; Zero moment point (ZMP)

Indexed keywords

BIPED ROBOTS; HUMANOID ROBOTS; PUSHING MOTION; REAL-TIME GAIT PLANNING; UNKNOWN OBJECTS; ZERO MOMENT POINT (ZMP);

COMPUTER SIMULATION; FRICTION; GAIT ANALYSIS; METHOD OF MOMENTS; REAL TIME CONTROL; TRAJECTORIES;

INTELLIGENT ROBOTS;

EID: 34249850668     PISSN: 15513203     EISSN: None     Source Type: Journal    
DOI: 10.1109/TII.2007.898469     Document Type: Article

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