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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Jun Morimoto, Gen Endo, Jun Nakanishi, Gordon Cheng 
Title:
A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a coupled oscillator model 
Pages contribution:
185-191 
Abstract:
Biological systems seem to have a simpler but more robust locomotion strategy than that of the existing biped walking controllers for humanoid robots. We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center-of-pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We do not expli...    »
 
Editor:
IEEE 
Book / Congress title:
IEEE Transactions on Robotics 
Volume:
24 
Edition:
Publisher:
IEEE Transactions on Robotics 
Year:
2008 
Year / month:
2008-02 
Reviewed:
ja 
Language:
en