TY - GEN
T1 - A simple approach to diverse humanoid locomotion
AU - Morimoto, Jun
AU - Endo, Gen
AU - Hyon, Sang Ho
AU - Cheng, Gordon
PY - 2007
Y1 - 2007
N2 - We propose a simple design strategy for diverse humanoid locomotion, which does not require a precise model of the robot and does not need careful design of desired gait trajectories. We show that a humanoid robot can walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of pressure location and its velocity to detect the phase of the robot dynamics. This phase information is used to modulate the desired joint trajectories. We do not explicitly use dynamical parameters of the humanoid robot. We applied the proposed control strategy to our newly developed human sized humanoid robot CB and a small size humanoid robot, enabling them to generate diverse range of locomotive patterns.
AB - We propose a simple design strategy for diverse humanoid locomotion, which does not require a precise model of the robot and does not need careful design of desired gait trajectories. We show that a humanoid robot can walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of pressure location and its velocity to detect the phase of the robot dynamics. This phase information is used to modulate the desired joint trajectories. We do not explicitly use dynamical parameters of the humanoid robot. We applied the proposed control strategy to our newly developed human sized humanoid robot CB and a small size humanoid robot, enabling them to generate diverse range of locomotive patterns.
UR - http://www.scopus.com/inward/record.url?scp=67649708271&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2007.4813932
DO - 10.1109/ICHR.2007.4813932
M3 - Conference contribution
AN - SCOPUS:67649708271
SN - 9781424418626
T3 - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
SP - 596
EP - 602
BT - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
PB - IEEE Computer Society
T2 - 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
Y2 - 29 November 2007 through 1 December 2007
ER -