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

doi:10.1108/IR-09-2015-0170

	A generic walking pattern generation method for humanoid robot walking on the slopes
	Guo, Fayong 1; Mei, Tao1 ; Ceccarelli, Marco 2; Zhao, Ziyi 3; Li, Tao 3; Zhao, Jianghai3
	2016
发表期刊	INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
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.
文章类型	Article
关键词	Asymmetric Linear Inverted Pendulum Humanoid Robot Walking On Slopes Walking Pattern Generation
WOS标题词	Science & Technology ; Technology
DOI	10.1108/IR-09-2015-0170
关键词[WOS]	BIPED ROBOT ; SLOPING SURFACES ; LOCOMOTION ; OSCILLATORS ; UNEVEN ; FLOOR
收录类别	SCI
语种	英语
项目资助者	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)
WOS研究方向	Engineering ; Robotics
WOS类目	Engineering, Industrial ; Robotics
WOS记录号	WOS:000379779800008
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/21213
专题	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.

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