Macro-walking instruction for biped humanoid robot

被引：2
|
作者：
Ogura, Y [1 ]
Ando, S [1 ]
Hieda, N [1 ]
Lim, HO [1 ]
Takanishi, A [1 ]
机构：
[1] Waseda Univ, Grad Sch Sci & Engn, Shinjyuku Ku, Tokyo 1698555, Japan
来源：
PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2 | 2003年
关键词：
D O I：
10.1109/AIM.2003.1225132
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper describes a macro-walking instruction strategy for a biped humanoid robot to memorize complex walking patterns systematically and effectively. In teaching various walking motions, auditory sensors are employed. Based on the sensory information, the motion of lower-limbs is created in online by a pattern generator At the same time, the motion of the trunk and the waist is generated in online by a balance control method for walking stability. A complete walking pattern is hierarchically constructed on the basis of basic and advanced walking patterns. Using WABIAN-RV, many experimental tests are conducted, and the effectiveness of the teaching strategy is verified.
引用
收藏
页码：417 / 422
页数：6
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