Gait pattern generation for humanoid robot based on the amplitude adjustable oscillators

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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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