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

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 會議論文 > Item 987654321/107367

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題名:	Gait pattern generation for humanoid robot based on the amplitude adjustable oscillators
作者:	Cheng, C.T.;Wong, C.C.;Hu, Y.Y.;Chen, L.F.;Tseng, I.H.
關鍵詞:	Biped robot walking;legged locomotion;humanoid robot
日期:	2012-08-29
上傳時間:	2016-08-18 13:39:03 (UTC+8)
摘要:	—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.
關聯:	The 43rd International Symposium on Robotics (ISR2012)
顯示於類別:	[電機工程學系暨研究所] 會議論文

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