Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots

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Title: Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots
Authors: Kryczka, P
Shiguematsu, YM
Kormushev, P
Hashimoto, K
Lim, H-O
Takanishi, A
Item Type: Conference Paper
Abstract: We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible and stable on the full-scale multi-degree-of-freedom humanoid robot. The approach allows for very rapid gait pattern regeneration during the swing phase of motion and includes information about present dynamic state when regenerating the new pattern. The paper contains description of a developed method, as well as experimental results proving its effectiveness.
Issue Date: 31-Dec-2013
Date of Acceptance: 12-Dec-2013
URI: http://hdl.handle.net/10044/1/26084
DOI: https://dx.doi.org/10.1109/ROBIO.2013.6739663
Publisher: IEEE
Start Page: 1408
End Page: 1413
Journal / Book Title: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Copyright Statement: © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Publication Status: Published
Start Date: 2013-12-12
Finish Date: 2013-12-14
Conference Place: Shenzhen
Appears in Collections:Dyson School of Design Engineering



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