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Modifiable Walking Pattern Generation Handling Infeasible Navigational Commands for Humanoid Robots
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 Title & Authors
Modifiable Walking Pattern Generation Handling Infeasible Navigational Commands for Humanoid Robots
Lee, Bum-Joo; Kim, Kab Il;
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 Abstract
In order to accomplish complex navigational commands, humanoid robot should be able to modify its walking period, step length and direction independently. In this paper, a novel walking pattern generation algorithm is proposed to satisfy these requirements. Modification of the walking pattern can be considered as a transition between two periodic walking patterns, which follows each navigational command. By assuming the robot as a linear inverted pendulum, the equations of motion between ZMP(Zero Moment Point) and CM(Center of Mass) state is easily derived and analyzed. After navigational command is translated into the desired CM state, corresponding CM motion is generated to achieve the desired state by using simple ZMP functions. Moreover, when the command is not feasible, feasible command is alternated by using binary search algorithm. Subsequently, corresponding CM motion is generated. The effectiveness of the proposed algorithm is verified by computer simulation.
 Keywords
Humanoid robot;Bipedal Robot;Walking Pattern;Gait;Locomotion;
 Language
English
 Cited by
1.
Experimental Study on Modifiable Walking Pattern Generation for Handling Infeasible Navigational Commands,;;

Journal of Electrical Engineering and Technology, 2015. vol.10. 6, pp.2368-2375 crossref(new window)
1.
Experimental Study on Modifiable Walking Pattern Generation for Handling Infeasible Navigational Commands, Journal of Electrical Engineering and Technology, 2015, 10, 6, 2368  crossref(new windwow)
2.
Dynamic Simulation of Modifiable Walking Pattern Generation to Handle Infeasible Navigational Commands for Humanoid Robots, Journal of Electrical Engineering and Technology, 2016, 11, 3, 751  crossref(new windwow)
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