A Walking Pattern Generation Method for Humaoid robots using Lest square method and Quartic polynomial

Title
A Walking Pattern Generation Method for Humaoid robots using Lest square method and Quartic polynomial
Authors
홍석민오용환장영환유범재
Keywords
Humanoid; Walking Pattern; Least square
Issue Date
2009-01
Publisher
In-Tech Book - Humanoid Robots
Citation
, 117-134
Abstract
This paper proposed a new walking pattern method for the humanoid robot. The propose method was based on the linear inverted pendulum model as the simple model of humanoid robot. And this method consisted of three step modules for generating walking pattern. Using these step modules, this paper addressed robustness of the proposed method against initial values of the ZMP and CoM, and validated the efficiency with the slope at the single support phase through simulations. And finally we showed zigzag walking to verify the usefulness of the proposed method using real humanoid robot MAHRU-R.
URI
http://pubs.kist.re.kr/handle/201004/36833
Appears in Collections:
KIST Publication > ETC
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