Realization of walking by FFT-based online pattern generation

Hldeki Kondo, Juri Shimizu, Kenji Hashimoto, Kentaro Hattori, Kosuke Nishikawa, Yuki T. Akezaki, Yuichiro Hama, Yuki Yoshimura, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference contribution査読

3 被引用数 (Scopus)

抄録

This paper describes about an online pattern generation based on FFT (Fast Fourier Transform). Until now, authors have adopted the offline FFT-based pattern generation. However, it's needed to regard the compensated moment from starting walking to stopping as a periodic function and it's difficult to generate a part of walking pattern. As a solution, it's found that the compensatory waist trajectory for the compensated moment which is cut out with a window of predetermined duration is proper only in the center part of the window. That means the whole trajectory is obtained as a series of the partial ones. Therefore, the online pattern generation is realized by generating a partial trajectories in the proposed way while walking.

本文言語English
ホスト出版物のタイトルMobile Robotics
ホスト出版物のサブタイトルSolutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
ページ615-622
ページ数8
出版ステータスPublished - 1 12 2010
イベント12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 - Istanbul, Turkey
継続期間: 9 9 200911 9 2009

出版物シリーズ

名前Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

Conference

Conference12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
国/地域Turkey
CityIstanbul
Period9/09/0911/09/09

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