scholarly journals Walking motion generation with online foot position adaptation based on ℓ1- and ℓ℞-norm penalty formulations

2011 ◽  
Author(s):  
Dimitar Dimitrov ◽  
Antonio Paolillo ◽  
Pierre-Brice Wieber
Keyword(s):  
Motion Generation ◽  
Walking Motion ◽  
Foot Position ◽  
Norm Penalty

Walking Motion Generation and Validation of Biped Humanoid Robot

2012 ◽  
Vol 591-593 ◽  
pp. 1386-1390
Author(s):  
Bo Tu ◽  
Dan Pu Zhao ◽  
Xian Qing Tai
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Humanoid Robot ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
The State ◽  
Significant Issue ◽  
Motion Generation ◽  
Walking Motion

Walking motion generation and validation have been a significant issue for biped humanoid robot. To generate more natural walking motions, and confirm the validity rapidly, this paper presents work on walking motion planning and validity verifying. Based on spline interpolation method, the walking motions in both sagittal and lateral planes are generated. Dynamic model is constructed with the toolbox of SimMechanics for Matlab, and the interactive forces between robot’s sole and ground are constrained in order to depict the state of balance. Dynamic model is driven by the walking motions which have been generated. The simulation and analysis demonstrate the validity of the motion which has been designed.

scholarly journals Online Walking Motion Generation with Automatic Footstep Placement

2010 ◽  
Vol 24 (5-6) ◽  
pp. 719-737 ◽  
Author(s):  
Andrei Herdt ◽  
Holger Diedam ◽  
Pierre-Brice Wieber ◽  
Dimitar Dimitrov ◽  
Katja Mombaur ◽  
...  
Keyword(s):  
Motion Generation ◽  
Walking Motion
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