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An Adaptive Biped Gait Generation Scheme Utilizing Characteristics of Various Gaits InTech
Kengo Toda; Ken Tomiyama.
A Sensor-Based Gait Generation method was introduced and an experimental system was built. Then, the system was implemented onto an original humanoid robot to evaluate operations and to demonstrate effectiveness of the proposed method. Experimental results exhibited successful gait selection corresponding to the road surface condition obtained from sensor information. Additionally, walking velocity and the energy efficiency are both enhanced without reducing the success rate of walking. The design approach for Gait Selector based on both ZMP and the angular momentum adopted in this study is a sufficiently general and valid one. The developed Gait Selector should be applicable to many gaits and humanoids. However, more conditional branchings based not only...
Tipo: 11 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL:
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