A Humanoid Robot's Walking Pattern Generation for Starting Swiftly

Title
A Humanoid Robot's Walking Pattern Generation for Starting Swiftly
Authors
홍석민오용환김도익유범재오상록
Keywords
Humanoid; Walking Pattern
Issue Date
2010-10
Publisher
Proc. of Int. Conf. on Advanced Mechatronics
Citation
, 153-158
Abstract
This paper proposes a humanoid robot’s walking pattern generation method for starting swiftly by employing a feedforward controller together with a feedback controller. The proposed control scheme generates the stable walking pattern according to various walking path and shows to improve the frequency property of the carttable model which is used as a simplified humanoid robot model. However the proposed controller has a drawback such as time delay to generate the walking pattern. To overcome this problem and to reduce the time delay, we modify the desired ZMP. The efficiency of the proposed method is verified by simulations.
URI
http://pubs.kist.re.kr/handle/201004/38979
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE