TY - GEN
T1 - DCM-Based Gait Generation for Walking on Moving Support Surfaces
AU - Englsberger, Johannes
AU - Mesesan, George
AU - Ott, Christian
AU - Albu-Schaffer, Alin
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - This paper presents a novel walking gait generator that allows the successful traversal of moving support surfaces such as conveyor belts, moving plates and escalators. The gait generator previews all steps of a complete gait sequence, while providing efficient matrix-vector based computations. The moving support surfaces are explicitly taken into account for the trajectory design. Multiple successful simulations of walking on different non-stationary ground surfaces prove the high quality of the proposed walking gait generator.
AB - This paper presents a novel walking gait generator that allows the successful traversal of moving support surfaces such as conveyor belts, moving plates and escalators. The gait generator previews all steps of a complete gait sequence, while providing efficient matrix-vector based computations. The moving support surfaces are explicitly taken into account for the trajectory design. Multiple successful simulations of walking on different non-stationary ground surfaces prove the high quality of the proposed walking gait generator.
UR - http://www.scopus.com/inward/record.url?scp=85062261933&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2018.8625006
DO - 10.1109/HUMANOIDS.2018.8625006
M3 - Conference contribution
AN - SCOPUS:85062261933
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 59
EP - 66
BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PB - IEEE Computer Society
T2 - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Y2 - 6 November 2018 through 9 November 2018
ER -