Lee, Sangwook Lee, Jongwoo Lee, Dong Gun Oh, Yonghwan 2024-01-19T11:38:20Z 2024-01-19T11:38:20Z 2022-03-07 2016 https://pubs.kist.re.kr/handle/201004/114992 A human walking has some general characteristics such as general timing of walking cycle, foot state at each timing, relationship with the stride per stature and walking speed, joint angle patterns of leg, pelvis movement, foot clearance during swing phase. So we collected and analysed the normal walking characteristics to generating natural walking pattern for general biped rigid-body configuration And we explained how to generate the walking pattern in sagittal plane possessing human normal walking characteristics. Finally, we demonstrated that our walking pattern properly have the normal walking characteristics. English IEEE Walking Pattern Generation in Sagittal Plane Possessing Characteristics of Human Normal Walking Conference 1 IEEE International Conference on Mechatronics and Automation, pp.1066 - 1072 IEEE International Conference on Mechatronics and Automation 1066 1072 US Harbin, PEOPLES R CHINA 2016-08-07 2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION 000387187800187 2-s2.0-84991251135 Proceedings Paper