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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/107367

    Title: Gait pattern generation for humanoid robot based on the amplitude adjustable oscillators
    Authors: Cheng, C.T.;Wong, C.C.;Hu, Y.Y.;Chen, L.F.;Tseng, I.H.
    Keywords: Biped robot walking;legged locomotion;humanoid robot
    Date: 2012-08-29
    Issue Date: 2016-08-18 13:39:03 (UTC+8)
    Abstract: —In this paper, a gait pattern generator for the
    humanoid robots is proposed by using the amplitude
    adjustable oscillators. The amplitude adjustable method is
    used to solve the lack of mechanism and improve the
    walking stability. Three end points, two feet and center of
    hip (COH), on the robot are chosen for determining the
    walking gait. Three oscillators are applied to calculate the
    trajectory curves of those three end points on x, y and z
    rectangular coordinates. After the whole walking
    trajectory is obtained by the combination of these nine
    oscillators, inverse kinematic is applied to determine the
    angle of each join. This method is not only calculating the
    walking gait of the biped robot but also helping the users to
    adjust the walking motion effectively. The proposed
    method is implemented and tested on a small size
    humanoid robot for the evaluation. The experimental
    results illustrate the effectiveness of the proposed method.
    Relation: The 43rd International Symposium on Robotics (ISR2012)
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Proceeding

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