Abstract / Description of output
This paper presents a novel foot placement control algorithm for adaptive bipedal walking. In
this method, the torso attitude and height are stabilized by synergic patterns so that the
forward velocity and its change have a stable and nearly linear relation with the foot
placement. Hence, our proposed online linear regression analysis well represents the local
linear models by estimating continuously from measured data. Based on this estimation, an
appropriate foot placement can be determined to control the forward velocity. Our simulation study successfully demonstrates the natural gait with accurate tracking of walking velocity, and the robustness of walking over even terrain.
| Original language | English |
|---|---|
| Title of host publication | Assistive Robotics |
| Subtitle of host publication | Proceedings of the 18th International Conference on CLAWAR 2015 |
| Publisher | World Scientific |
| Pages | 478-485 |
| Number of pages | 8 |
| ISBN (Electronic) | 978-981-4725-25-5 |
| ISBN (Print) | 978-981-4725-23-1 |
| Publication status | Published - Oct 2015 |