Modifiable walking pattern of a humanoid robot by using allowable ZMP variation

IEEE Transactions on Robotics

Volumn 24, Issue 4, 2008, Pages 917-925

  Lee, Bum Joo ^a   Stonier, Daniel ^b   Kim, Yong Duk ^a   Yoo, Jeong Ki ^a   Kim, Jong Hwan ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b Yujin Robot   (South Korea)

Author keywords

3 D linear inverted pendulum mode (3D LIPM); Feasible region; Humanoid robot; Modifiable walking pattern; Walking state; Zeromoment point (ZMP) function; ZMP variation

Indexed keywords

CHLORINE COMPOUNDS; COMPUTATIONAL METHODS; COMPUTER SIMULATION; INTELLIGENT ROBOTS; NAVIGATION; ROBOTICS; TECHNOLOGY; THREE DIMENSIONAL;

3-D LINEAR INVERTED PENDULUM MODE (3D-LIPM); CENTER-OF-MASS; CONVEX HULLS; DYNAMIC WALKING; FEASIBLE REGION; HUMANOID ROBOT; INVERTED PENDULUM MODE; KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY; MODIFIABLE WALKING PATTERN; NOVEL ALGORITHMS; REAL TIME; ROBOT INTELLIGENCE; SINGLE-SUPPORT PHASE; STEP LENGTH; WALKING PATTERNS; WALKING STATE; ZERO-MOMENT POINT; ZEROMOMENT POINT (ZMP) FUNCTION; ZMP VARIATION;

ROBOTS;

EID: 50649084109     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.926859     Document Type: Article

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