TY - GEN
T1 - Gait pattern generation and stabilization for humanoid robot based on coupled oscillators
AU - Ha, Inyong
AU - Tamura, Yusuke
AU - Asama, Hajime
PY - 2011
Y1 - 2011
N2 - To achieve a balanced walking for a humanoid, it is necessary to estimate the dynamic stability of the system. However, in a small size humanoid with restricted system resource, it is hard to satisfy the performance level desired by dynamics analysis. Therefore, in this paper, we propose the feasible methods to generate gait pattern and stabilize walking based on coupled oscillators which have a clear correlation between oscillator parameters and system dynamics without a real time ZMP calculation. The proposed method was tested on the open humanoid platform DARwIn-OP for the evaluation, and the result showed that a real time gait pattern generation and stabilization were realized.
AB - To achieve a balanced walking for a humanoid, it is necessary to estimate the dynamic stability of the system. However, in a small size humanoid with restricted system resource, it is hard to satisfy the performance level desired by dynamics analysis. Therefore, in this paper, we propose the feasible methods to generate gait pattern and stabilize walking based on coupled oscillators which have a clear correlation between oscillator parameters and system dynamics without a real time ZMP calculation. The proposed method was tested on the open humanoid platform DARwIn-OP for the evaluation, and the result showed that a real time gait pattern generation and stabilization were realized.
UR - http://www.scopus.com/inward/record.url?scp=84455191492&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455191492&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048790
DO - 10.1109/IROS.2011.6048790
M3 - Conference contribution
AN - SCOPUS:84455191492
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3207
EP - 3212
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -