{"title":"两足动物步行模式在线生成","authors":"Hun-ok Lim, T. Yoshida","doi":"10.1109/ICCAS.2010.5669812","DOIUrl":null,"url":null,"abstract":"This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Online walking pattern generation for biped walking\",\"authors\":\"Hun-ok Lim, T. Yoshida\",\"doi\":\"10.1109/ICCAS.2010.5669812\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.\",\"PeriodicalId\":158687,\"journal\":{\"name\":\"ICCAS 2010\",\"volume\":\"36 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-12-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ICCAS 2010\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCAS.2010.5669812\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ICCAS 2010","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCAS.2010.5669812","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Online walking pattern generation for biped walking
This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.
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