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IROS
2006
IEEE

Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method

9 years 8 months ago
Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method
— This paper addresses the problem of naturally looking and energy efficient walk of biped humanoids. We presuppose that such walk requires motion control capability around kinematic singularities, such that the knee can be fully extended. This problem is tackled by adopting the SingularityConsistent method devoloped for manipulator motion control at and around kinematic singularities. We implemented the method with a HOAP-2 humanoid robot, demonstrating stable static walk as a first step in this direction.
Kentaro Takahashi, M. Noda, Dragomir N. Nenchev, Y
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Kentaro Takahashi, M. Noda, Dragomir N. Nenchev, Yuichi Tsumaki, Akinori Sekiguchi
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