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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Jun Morimoto, Gen Endo, Jun Nakanishi, S Hyon, Gordon Cheng, Darrin Bentivegna, Christopher G Atkeson 
Title:
Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking 
Pages contribution:
1579-1584 
Abstract:
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 applied the proposed control approach to our newly developed human sized humanoid robot and a small size humanoid robot developed by Sony, enabling them to generat...    »
 
Editor:
IEEE 
Book / Congress title:
ICRA 2006 
Congress (additional information):
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. 
Organization:
IEEE 
Year:
2006 
Year / month:
2006-05 
Reviewed:
ja 
Language:
en