A Walking Pattern Generation Method for Humaoid robots using Lest square method and Quartic polynomial
- A Walking Pattern Generation Method for Humaoid robots using Lest square method and Quartic polynomial
- 홍석민; 오용환; 장영환; 유범재
- Humanoid; Walking Pattern; Least square
- Issue Date
- In-Tech Book - Humanoid Robots
- , 117-134
- 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.
- Appears in Collections:
- KIST Publication > ETC
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