Walking Control for Humanoid Robot by the SC Approach

Conventional humanoid robots cannot achieve human-like walking patterns. The reason is that human walking patterns include singularity configurations, i.e. configurations with extended knees. Such kinematic singularities cause spurious joint motions. In other words, the humanoid robots cannot handle...

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Veröffentlicht in:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 2007/03/25, Vol.73(727), pp.790-795
Hauptverfasser:	KAMETA, Koki, SEKIGUCHI, Akinori, TSUMAKI, Yuichi, NENCHEV, Dragomir N.
Format:	Artikel
Sprache:	eng ; jpn
Schlagworte:	Humanoid Legged Locomotion Motion Control Singularity Singularity-Consistent Approach Walking Pattern Generator
Online-Zugang:	Volltext
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