지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한전기학회 Journal of Electrical Engineering & Technology Journal of Electrical Engineering & Technology Vol.11 No.3
- 발행연도
- 2016.5
- 수록면
- 751 - 758 (8page)
이용수
초록· 키워드
오류제보하기
The modifiable walking pattern generation (MWPG) algorithm can handle dynamic walking commands by changing the walking period, step length, and direction independently. When an infeasible command is given, the algorithm changes the command to a feasible one. After the feasibility of the navigational command is checked, it is translated into the desired center of mass (CM) state. To achieve the desired CM state, a reference CM trajectory is generated using predefined zero moment point (ZMP) functions. Based on the proposed algorithm, various complex walking patterns were generated, including backward and sideways walking. The effectiveness of the patterns was verified in dynamic simulations using the Webots simulator.
목차
Abstract
1. Introduction
2. Review of Modifiable Walking Pattern
3. Computer Simulation
4. Conclusion
References
참고문헌 (23)
참고문헌 신청
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Yokoi, and H. Hirukawa, “A realtime pattern
generator for Biped walking,” in Proc. IEEE Int.
Conf. Robot. Autom., May 2002, vol. 1, pp. 31-37.
T. Sugihara, Y. Nakamura, and H. Inoue, “Realtime
humanoid motion generation through ZMP manipulation
based on inverted pendulum control,” in
Proc. IEEE Int. Conf. Robot. Autom., May 2002, vol.
2, pp. 1404-1409.
Y.-D. Hong and J.-H. Kim, “3-D command statebased
modifiable bipedal walking on uneven terrain,”
IEEE/ASME Trans. Mechatron., vol. 18, no. 2, pp.
657-663, Apr. 2013.
Y.-D. Hong, B.-J. Lee, and J.-H. Kim, “Command
state-based modifiable walking pattern generation on
an inclined plane in pitch and roll directions for
humanoid robots,” IEEE/ASME Trans. Mechatron.,
vol. 16, no. 4, pp. 783-789, Aug. 2011.
K. Nagasaka, Y. Kuroki, S. Suzuki, Y. Itoh, and J.
Yamagushi, “Integrated motion control for walking,
jumping and running on a small bipedal entertainment
robot,” in Proc IEEE Int. Conf. robot.
Autom., Apr. 2004, vol. 4, pp. 3189-3194.
T. Sugihara, Y. Nakamura, and H. Inoue, “Realtime
humanoid motion generation through ZMP manipulation
based on inverted pendulum control,” in
Proc. IEEE Int. Conf. Robot. Autom., May 2002, vol.
2, pp. 1404-1409.
Y.-D. Hong and J.-H. Kim, “3-D command statebased
modifiable bipedal walking on uneven terrain,”
IEEE/ASME Trans. Mechatron., vol. 18, no. 2, pp.
657-663, Apr. 2013.
Y.-D. Hong, B.-J. Lee, and J.-H. Kim, “Command
state-based modifiable walking pattern generation on
an inclined plane in pitch and roll directions for
humanoid robots,” IEEE/ASME Trans. Mechatron.,
vol. 16, no. 4, pp. 783-789, Aug. 2011.
K. Nagasaka, Y. Kuroki, S. Suzuki, Y. Itoh, and J.
Yamagushi, “Integrated motion control for walking,
jumping and running on a small bipedal entertainment
robot,” in Proc IEEE Int. Conf. robot.
Autom., Apr. 2004, vol. 4, pp. 3189-3194.
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