A biped pattern generation allowing immediate modification of foot placement in real-time

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Volumn , Issue , 2006, Pages 581-586

  Morisawa, Mitsuharu ^a   Harada, Kensuke ^a   Kajita, Shuuji ^a   Kaneko, Kenji ^a   Kanehiro, Fumio ^a   Fujiwara, Kiyoshi ^a   Nakaoka, Shinichiro ^a   Hirukawa, Hirohisa ^a  

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

Author keywords

[No Author keywords available]

Indexed keywords

BIOMECHANICS; BIPED LOCOMOTION; BOUNDARY CONDITIONS; BOUNDARY VALUE PROBLEMS; INTELLIGENT ROBOTS; PROGRAMMABLE ROBOTS; ROBOTS; TRAJECTORIES;

ANALYTICAL SOLUTIONS; BIPED ROBOTS; BOUNDARY CONDITIONING; CENTER-OF-GRAVITY; GAIT PLANNING; HUMANOID ROBOT; HUMANOID ROBOTS; INTERNATIONAL CONFERENCES; INVERTED PENDULUM MODEL; PARAMETERIZED; PATTERN GENERATION; SINGLE SUPPORT; WALKING PATTERN GENERATOR; ZERO MOMENT POINTS;

ROBOTICS;

EID: 36348932254     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2006.321332     Document Type: Conference Paper

References (19)

1. K.Hirai, et al., "The Development of Honda Humanoid Robot," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1321-1326, 1998.
2. M.Gienger, et al., "Towards the Design of Jogging Robot," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.4140-4145, 2001.
3. H.Lim, Y.Kaneshima, A.Takanishi, et al., "Online Walkinge Pattern Generation for Biped Humanoid Robot with Trunk," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.3111-pp.3116, 2002.
4. J.Y.Kim, et al., "System Design and Dynamic Walking of Humanoid Robot KHR-2," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1443-1448, 2005.
5. K.Kaneko, et al., "The Humanoid Robot HRP2," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1083-1090, 2004.
6. S.Kagami, at el., "A Fast Generation Method of a Dynamically Stable Humanoid Robot Trajectory with Enhanced ZMP Constraint," Proc. of the 2000 IEEE-RAS Int. Conf. Humanoid Robots, 2000.
7. 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.
8. K.Harada, et al., "An Analytical Method on Real-time Gait Planning for a Humanoid Robot," Proc. of the 2000 IEEE-RAS Int. Conf. Humanoid Robots, Paper #60, 2004.
9. T.Sugihara, et al., "A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robot," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.306-311, 2005.
10. K.Nagasaka, et al., "Integrated Motion Control for Walking, Jumping and Running on a Small Bipedal Entertainment Robot," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.3189-3194, 2004.
11. M.Vukobratovic, and D.Juricic, "Contribution to the Synthiesis of Biped Gait," IEEE Trans. on Bio-Med. Eng., vol.BME-16, no.1, pp. 1-6,1969.
12. H.Miura, et al., "Dynamic walk of a biped," Int. Jour. of Robotics Research, Vol.3, No.2, pp.60-72, 1984
13. K.Nishiwaki, et al., "Online Mixture and Connection of Basic Motions for Humanoid Walking Control by Footprint Specification," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.4110-4115, 2001.
14. S.Kajita, et al., "The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation," Proc. of IEEE/RSJ Int. Conf. on IROS, pp.239-246, 2001.
15. T.Sugihara, et al., "Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1404-1409, 2002.
16. K.Nishiwaki, et al., "High Frequency Walking Pattern Generation based on Preview Control of ZMP," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.2667-2672, 2006.
17. Ill-Woo Park, et al., "Online Free Walking Trajectory Generation for Biped Humanoid Robot KHR-3(HUBO)," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1231-1236, 2006
18. S.Kajita, "Humanoid Robots", Ohmusha, ISBN4-274-20058-2, 2005. (in Japanese)
19. F.Kanehiro, et al., "Open Architecture Humanoid Robot Platform," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.24-30, 2002