A continuous-time walking pattern generator for realizing seamless transition between flat-contact and heel-to-toe walking
書誌事項
- 公開日
- 2023-03-04
- 資源種別
- journal article
- 権利情報
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- © 2022 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group
- This is an Open Access article distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives License (http://creativecommons.org/licenses/by-nc-nd/4.0/), which permits non-commercial re-use, distribution, and reproduction in any medium, provided the original work is properly cited, and is not altered, transformed, or built upon in any way.
- DOI
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- 10.1080/01691864.2022.2120774
- 公開者
- Taylor & Francis
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説明
A planning algorithm that can generate continuous-time walking patterns including the seamless transition between flat-contact and heel-to-toe walking gaits is proposed. The planner makes use of the closed-form solution of a modified linear inverted pendulum mode which includes the ZMP and the weight ratio of each foot explicitly in its dynamics. The heel-to-toe movement of each foot is directly parameterized by the ZMP, and therefore consistency between the foot movement and the low-dimensional dynamics is ensured. In simulations with a 32 DoF model of a life-sized humanoid robot, fast human-like walking at the maximum speed of 4.6 km/h was achieved.
収録刊行物
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- Advanced Robotics
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Advanced Robotics 37 (5), 316-328, 2023-03-04
Taylor & Francis
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詳細情報 詳細情報について
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- CRID
- 1050857136478490240
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- ISSN
- 15685535
- 01691864
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- HANDLE
- 20.500.14094/0100477521
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- 本文言語コード
- en
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- 資料種別
- journal article
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- データソース種別
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- IRDB
- Crossref
- KAKEN
- OpenAIRE
