TY - GEN
T1 - Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking
AU - Morimoto, Jun
AU - Endo, Gen
AU - Nakanishi, Jun
AU - Hyon, Sang Ho
AU - Cheng, Gordon
AU - Bentivegna, Darrin
AU - Atkeson, Christopher G.
PY - 2006
Y1 - 2006
N2 - We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized hunianoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns.
AB - We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of pressure location and velocity to detect the phase of the lateral robot dynamics. This phase information is used to modulate the desired joint trajectories. We applied the proposed control approach to our newly developed human sized hunianoid robot and a small size humanoid robot developed by Sony, enabling them to generate successful stepping and walking patterns.
UR - http://www.scopus.com/inward/record.url?scp=33845621558&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641932
DO - 10.1109/ROBOT.2006.1641932
M3 - Conference contribution
AN - SCOPUS:33845621558
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1579
EP - 1584
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -