Online mixture and connection of basic motions for humanoid walking control by footprint specification

K. Nishiwaki, T. Sugihara, S. Kagami, M. Inaba, H. Inoue

Research output: Chapter in Book/Report/Conference proceedingConference contribution

75 Citations (Scopus)

Abstract

This paper introduces and describes a novel method which enables the online generation of humanoid walking patterns that follow desired footprint locations. Online generation is realized by the dynamically stable mixture and connection of pre-designed motions. Characteristics of ZMP are utilized in order to maintain the overall dynamic stability of "mixed" motions. Experimen ts using an online pattern generation software system and online walking control joystik interface for the humanoid robot H6 are introduced to show the validity of the method.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4110-4115
Number of pages6
DOIs
Publication statusPublished - 2001 Sep 15
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 2001 May 212001 May 26

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume4
ISSN (Print)1050-4729

Other

Other2001 IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period01/5/2101/5/26

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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