OTHER
Running Pattern Generation for a Humanoid Robot
T. Nagasaki, Shuuji Kajita, Kazuhito Yokoi, Kenji Kaneko, Hirohisa Hirukawa, K. Tanie
- Year
- 2003
- Citations
- 11
- Access
- Open access
Abstract
We propose a method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum. A dynamic simulation using a model of an actual humanoid robot shows that the robot can perform running by applying a generated pattern with slight modifications. From the simulation we evaluate the required performance of actuators for a real running robot.
Keywords
Humanoid robotInverted pendulumRobotActuatorComputer scienceRobot controlSimulationSimple (philosophy)Mobile robotArtificial intelligence
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