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A generic walking pattern generation method for humanoid robot walking on the slopes

文献类型：期刊论文

作者Guo, Fayong1; Mei, Tao1; Ceccarelli, Marco2; Zhao, Ziyi3; Li, Tao3; Zhao, Jianghai3
刊名INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
出版日期2016
卷号43期号:3页码:317-327
关键词Asymmetric Linear Inverted Pendulum Humanoid Robot Walking On Slopes Walking Pattern Generation
DOI10.1108/IR-09-2015-0170
文献子类Article
英文摘要Purpose - Walking on inclined ground is an important ability for humanoid robots. In general, conventional strategies for walking on slopes lack technical analysis in, first, the waist posture with respect to actual robot and, second, the landing impact, which weakens the walking stability. The purpose of this paper is to propose a generic method for walking pattern generation considering these issues with the aim of enabling humanoid robot to walk dynamically on a slope.
WOS关键词BIPED ROBOT ; SLOPING SURFACES ; LOCOMOTION ; OSCILLATORS ; UNEVEN ; FLOOR
WOS研究方向Engineering ; Robotics
语种英语
WOS记录号WOS:000379779800008
资助机构Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; Natural Science Foundation of Jiangsu Province, China(BK2012587) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469) ; National Nature Science Foundation of China(51405469)
源URL[http://ir.hfcas.ac.cn/handle/334002/21213]  
专题合肥物质科学研究院_中科院合肥物质科学研究院先进制造技术研究所
作者单位1.Univ Sci & Technol China, Dept Automat, Hefei, Peoples R China
2.Univ Cassino & South Latium, Lab Robot & Mechatron, Cassino, Italy
3.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou, Peoples R China
推荐引用方式
GB/T 7714		 Guo, Fayong,Mei, Tao,Ceccarelli, Marco,et al. A generic walking pattern generation method for humanoid robot walking on the slopes[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2016,43(3):317-327.
APA Guo, Fayong,Mei, Tao,Ceccarelli, Marco,Zhao, Ziyi,Li, Tao,&Zhao, Jianghai.(2016).A generic walking pattern generation method for humanoid robot walking on the slopes.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,43(3),317-327.
MLA Guo, Fayong,et al."A generic walking pattern generation method for humanoid robot walking on the slopes".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 43.3(2016):317-327.

入库方式： OAI收割

来源：合肥物质科学研究院

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