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- Publisher Website: 10.1109/IROS.2003.1248797
- Scopus: eid_2-s2.0-0347409541
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Conference Paper: C2 Continuous Gait-Pattern Generation for Biped Robots
Title | C<sup>2</sup> Continuous Gait-Pattern Generation for Biped Robots |
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Authors | |
Issue Date | 2003 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2003, v. 2, p. 1135-1140 How to Cite? |
Abstract | In this paper, we propose a new method to generate C2 continuous gait motion for biped robots. The method is based on the enhanced inverted pendulum mode, which can easily handle angular momentum around the center of gravity. Using our method, it is possible to plan motion paths for biped robots without discontinuity in the acceleration even during switching from single support phase to double support phase, and vice versa. |
Persistent Identifier | http://hdl.handle.net/10722/288602 |
DC Field | Value | Language |
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dc.contributor.author | Kudoh, Shunsuke | - |
dc.contributor.author | Komura, Taku | - |
dc.date.accessioned | 2020-10-12T08:05:23Z | - |
dc.date.available | 2020-10-12T08:05:23Z | - |
dc.date.issued | 2003 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2003, v. 2, p. 1135-1140 | - |
dc.identifier.uri | http://hdl.handle.net/10722/288602 | - |
dc.description.abstract | In this paper, we propose a new method to generate C2 continuous gait motion for biped robots. The method is based on the enhanced inverted pendulum mode, which can easily handle angular momentum around the center of gravity. Using our method, it is possible to plan motion paths for biped robots without discontinuity in the acceleration even during switching from single support phase to double support phase, and vice versa. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | C<sup>2</sup> Continuous Gait-Pattern Generation for Biped Robots | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2003.1248797 | - |
dc.identifier.scopus | eid_2-s2.0-0347409541 | - |
dc.identifier.volume | 2 | - |
dc.identifier.spage | 1135 | - |
dc.identifier.epage | 1140 | - |