3-D Command State-Based Modifiable Bipedal Walking on Uneven Terrain

Bipedal robots in previous research work were unable to independently modify the elements of a walking pattern on uneven terrain without any extra footstep for adjusting the center of mass (COM) motion. To solve this problem, this paper extends the modifiable walking pattern generator (MWPG). The MW...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2013-04, Vol.18 (2), p.657-663
Hauptverfasser:	Hong, Young-Dae, Kim, Jong-Hwan
Format:	Artikel
Sprache:	eng
Schlagworte:	3-D command state (CS) 3-D linear inverted pendulum model (LIPM) Bipedal robot Equations Foot Legged locomotion Mathematical model modifiable walking pattern generator (MWPG) Robot sensing systems Trajectory uneven terrain locomotion
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