Running Pattern Generation for a Humanoid Robot

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A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. Dynamic simulation using a model of an actual humanoid robot shows that the robot can run by applying a generated pattern with slight modiﬁcations. The simulation is used to evaluate the required performance of actuators for an actual running robot.

Shuuji Kajita, Takashi Nagasaki, Kazuhito Yokoi, K

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Actual Humanoid Robot | Actual Running Robot | Humanoid Robot | ICRA 2002 | Robotics |

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Added	15 Jul 2010
Updated	15 Jul 2010
Type	Conference
Year	2002
Where	ICRA
Authors	Shuuji Kajita, Takashi Nagasaki, Kazuhito Yokoi, Kenji Kaneko, Kazuo Tanie

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Running Pattern Generation for a Humanoid Robot

Actual Humanoid Robot | Actual Running Robot | Humanoid Robot | ICRA 2002 | Robotics |

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