Normalization-Based Omnidirectional Gait Planning for Small Humanoid Robot

Guo Dong Li; Jian Yi Peng; Kun Peng Liu; Xiang Jin Wang

doi:10.4028/www.scientific.net/AMM.80-81.1289

Paper Titles

Research on Extracting Skeleton of Mechanism
p.1268

Research about Post Processing for Fagor CNC System Based on Visual C++
p.1273

Researching on Clutch Rotational Speed Signal Processing of AMT Vehicle
p.1278

Research on the Relation Expression for District Collaborative Design
p.1284

Normalization-Based Omnidirectional Gait Planning for Small Humanoid Robot
p.1289

Design of Applied Diffusion Pump System for Electron Beam Process
p.1295

Research on the Disassembly Sequence Planning for Mechanical Product
p.1300

Developing a Hybrid Stack Mode for Dynamic Yard Allocation Strategy of Export Containers
p.1305

Yard Allocation Planning for Container Terminals Based on Twin 40ft Handing System
p.1310

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 80-81Normalization-Based Omnidirectional Gait Planning...

Normalization-Based Omnidirectional Gait Planning for Small Humanoid Robot

Abstract:

The normalization method is utilized in this paper for gait planning of small humanoid robot, and hence generating the normalized trajectory curves for parameters such as three dimensional coordinates and rotation angle and achieving omni-directional legged locomotion of robot. The advantages of this method include less computational complexity of controller, on-line real-time planning of robot, and better stability in motion and flexibility in control. Test results demonstrate that the robot can walk stably towards all directions at the walking speed of 0.8km/h.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 80-81)

Pages:

1289-1294

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.80-81.1289

Citation:

Cite this paper

Online since:

July 2011

Authors:

Guo Dong Li, Jian Yi Peng, Kun Peng Liu, Xiang Jin Wang

Keywords:

Gait Planning, Humanoid Robot, Normalization, Omnidirectional Walk

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] HUANG Q, SUGANO S, TANIE K. Stability compensation of a mobile manipulator by manipulator motion: Feasibility and planning[J], Advance Robot, 1999, 13(1): 25-40.

DOI: 10.1163/156855399x00982

Google Scholar

[2] Sakagami Y, Watanabe R, Aoyama C, et al. The intelligent ASIMO: System overview and integration[A]. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems[C]. Piscataway, NJ, USA: IEEE, 2002. 2478-2483.

DOI: 10.1109/irds.2002.1041641

Google Scholar

[3] Harris G F, Smith P A. Human Motion Analysis: Current Applications and Future Ditections[M]. New York, NY, USA: IEEE, (1996).

Google Scholar

[4] Dasguta A, Nukamura Y. Making feasible walking motion of humanoid robots from human motion capture data[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Piscataway, NJ, USA: IEEE, 1999. 1044-1049.

DOI: 10.1109/robot.1999.772454

Google Scholar

[5] Zanchi V, Papic V, Cecic M. Quantitative human gait analysis[J]. Simulation Practice and Theory, 2000, 8(1-2): 127-139.

Google Scholar

[6] Vukobratovic M, Borovac B, Surdilovic D. Zeromoment pointproper interpretation and new applientions[A]. Proceedings of the IEEE/RAS International Conference on Humanoid Robots[C]. Piscataway, NJ, USA: IEEE, 2001. 237-244.

Google Scholar

[7] HUANG Qiang. Planning walking patterns for a biped robot[J]. IEEE Transactions on Robotics and Automation, 2001，17(3): 280-289.

DOI: 10.1109/70.938385

Google Scholar

[8] SHUUJI K. A realtime pattern generator for biped walking[C]. Proceeding of the 2002 IEEE international Conference on Robotics & Automation. Washington: IEEE Computer Society Press. 2002: 31-37.

DOI: 10.1109/robot.2002.1013335

Google Scholar