Gait pattern generation and stabilization for humanoid robot based on coupled oscillators

Inyong Ha; Yusuke Tamura; Hajime Asama

doi:10.1109/IROS.2011.6048790

Gait pattern generation and stabilization for humanoid robot based on coupled oscillators

Inyong Ha, Yusuke Tamura, Hajime Asama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

39 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	3207-3212
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2011.6048790
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 2011 Sept 25 → 2011 Sept 30

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	11/9/25 → 11/9/30

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.2011.6048790

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Ha, I., Tamura, Y., & Asama, H. (2011). Gait pattern generation and stabilization for humanoid robot based on coupled oscillators. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 3207-3212). [6048790] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048790

Gait pattern generation and stabilization for humanoid robot based on coupled oscillators. / Ha, Inyong; Tamura, Yusuke; Asama, Hajime.

IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 3207-3212 6048790 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ha, I, Tamura, Y & Asama, H 2011, Gait pattern generation and stabilization for humanoid robot based on coupled oscillators. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048790, IEEE International Conference on Intelligent Robots and Systems, pp. 3207-3212, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 11/9/25. https://doi.org/10.1109/IROS.2011.6048790

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abstract = "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.",

author = "Inyong Ha and Yusuke Tamura and Hajime Asama",

year = "2011",

doi = "10.1109/IROS.2011.6048790",

language = "English",

isbn = "9781612844541",

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booktitle = "IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems",

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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.

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Gait pattern generation and stabilization for humanoid robot based on coupled oscillators

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