Realization of Outdoor Human-carrying Biped Walking by Landing Pattern Modification Method
نویسندگان
چکیده
منابع مشابه
Transferring Human Biped Walking Function to a Machine -Towards the Realization of a Biped Bike-
In our study, we accomplished human walking motion in 2D, using a biped model with simple bar-like legs, and reciprocal leg stretch-contraction motion. Although extremely simple, this model possesses common characteristics to that of human biped walking, such as normal step length, duty factor, and reaction force patterns. We found that, by using additional stretchcontraction mechanisms to the ...
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For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern genera...
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In this research, a stable biped walking pattern is generated using reinforcement learning. The biped walking pattern is chosen as a simple third order polynomial. To complete the walking pattern, four boundary conditions are needed. Initial position and velocity and final position and velocity of the joint are selected as boundary conditions. In order to find the proper boundary condition valu...
متن کاملExperimental realization of dynamic walking for a human-riding biped robot, HUBO FX-1
Abstract This paper describes a control strategy of the stable walking for the human-riding biped robot, HUBO FX-1. HUBO FX-1 largely consists of two legs with 12 DOF (Degree of freedom), a pelvis and a cockpit. A normal adult can easily ride on HUBO FX-1 by means of a foothold and can change the walking direction and speed continuously through the use of a joystick. Principally, this kind of r...
متن کاملFull paper Experimental realization of dynamic walking for a human-riding biped robot, HUBO FX-1
This paper describes a control strategy of the stable walking for the human-riding biped robot, HUBO FX-1. HUBO FX-1 largely consists of two legs with 12 d.o.f., a pelvis and a cockpit. A normal adult can easily ride on HUBO FX-1 by means of a foothold, and can change the walking direction and speed continuously through the use of a joystick. Principally, this kind of robot must be able to carr...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2007
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.25.851