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Sensory-based walking motion instruction for biped humanoid robot

✍ Scribed by Yu Ogura; Shumpei Ando; Hun-ok Lim; Atsuo Takanishi

Publisher: Elsevier Science
Year: 2004
Tongue: English
Weight: 318 KB
Volume: 48
Category: Article
ISSN: 0921-8890
DOI: 10.1016/j.robot.2004.07.002

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✦ Synopsis

This paper describes a sensory-based biped walking motion instruction strategy. Visual and auditory sensors are employed to generate walking patterns according to human orders and to memorize various complete walking patterns effectively and systematically. The motion of lower-limbs for locomotion is created by an online pattern generator based on the sensory information. At the same time, the motion of the trunk and the waist for stability is generated online by a balance control method. Combining these locomotive and balance motions, a complete walking pattern is hierarchically constructed and memorized on a database. The walking instruction is conducted through computer simulation, and its effectiveness is verified.

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