{"title":"走路时不加思考","authors":"A. Herdt, Nicolas Perrin, Pierre-Brice Wieber","doi":"10.1109/IROS.2010.5654429","DOIUrl":null,"url":null,"abstract":"We demonstrate in this paper our motion generation sheme for the generation of stable bipedal walking motions and we expand it to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and safe way. Polygonal constraints on the positions of the computed feet positions serve to improve its reliability. A logic for the succession of the support phases and an algorithm for the automatic control of their orientations bridge the gap to more autonomy and to more practicability.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"153","resultStr":"{\"title\":\"Walking without thinking about it\",\"authors\":\"A. Herdt, Nicolas Perrin, Pierre-Brice Wieber\",\"doi\":\"10.1109/IROS.2010.5654429\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We demonstrate in this paper our motion generation sheme for the generation of stable bipedal walking motions and we expand it to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and safe way. Polygonal constraints on the positions of the computed feet positions serve to improve its reliability. A logic for the succession of the support phases and an algorithm for the automatic control of their orientations bridge the gap to more autonomy and to more practicability.\",\"PeriodicalId\":420658,\"journal\":{\"name\":\"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-12-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"153\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2010.5654429\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2010.5654429","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
We demonstrate in this paper our motion generation sheme for the generation of stable bipedal walking motions and we expand it to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and safe way. Polygonal constraints on the positions of the computed feet positions serve to improve its reliability. A logic for the succession of the support phases and an algorithm for the automatic control of their orientations bridge the gap to more autonomy and to more practicability.
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