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

页码：417 / 422

页数：6

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