A simple approach to diverse humanoid locomotion

Jun Morimoto, Gen Endo, Sang Ho Hyon, Gordon Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
PublisherIEEE Computer Society
Pages596-602
Number of pages7
ISBN (Print)9781424418626
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007 - Pittsburgh, PA, United States
Duration: 29 Nov 20071 Dec 2007

Publication series

NameProceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

Conference

Conference2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
Country/TerritoryUnited States
CityPittsburgh, PA
Period29/11/071/12/07

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