教師資料查詢 | 類別: 會議論文 | 教師: 翁慶昌 Wong Ching-chang (瀏覽個人網頁)

標題:Gait pattern generation for humanoid robot based on the amplitude adjustable oscillators
學年101
學期1
發表日期2012/08/29
作品名稱Gait pattern generation for humanoid robot based on the amplitude adjustable oscillators
作品名稱(其他語言)
著者Cheng, C.T.; Wong, C.C.; Hu, Y.Y.; Chen, L.F.; Tseng, I.H.
作品所屬單位
出版者
會議名稱The 43rd International Symposium on Robotics (ISR2012)
會議地點Taipei, Taiwan
摘要—In this paper, a gait pattern generator for the
humanoid robots is proposed by using the amplitude
adjustable oscillators. The amplitude adjustable method is
used to solve the lack of mechanism and improve the
walking stability. Three end points, two feet and center of
hip (COH), on the robot are chosen for determining the
walking gait. Three oscillators are applied to calculate the
trajectory curves of those three end points on x, y and z
rectangular coordinates. After the whole walking
trajectory is obtained by the combination of these nine
oscillators, inverse kinematic is applied to determine the
angle of each join. This method is not only calculating the
walking gait of the biped robot but also helping the users to
adjust the walking motion effectively. The proposed
method is implemented and tested on a small size
humanoid robot for the evaluation. The experimental
results illustrate the effectiveness of the proposed method.
關鍵字Biped robot walking;legged locomotion;humanoid robot
語言英文(美國)
收錄於
會議性質國際
校內研討會地點
研討會時間20120829~20120831
通訊作者
國別中華民國
公開徵稿
出版型式
出處The 43rd International Symposium on Robotics (ISR2012)
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