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Running pattern generation and its evaluation using a realistic humanoid model
Description
This paper describes a possibility of a running humanoid robot based on the physical properties of an existing humanoid robot HRP-2L. To generate running motion, we develop a general method to control the total linear/angular momentum of a multi-link system. By this method, we can generate a reliable running pattern. Conducting simulations which take into account physical restrictions, we show that our humanoid robot can run at least at 0.5 m/s.
Journal
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- 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
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2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) 1 1336-1342, 2004-03-22
IEEE