Online walking pattern generation using FFT for humanoid robots

Kenji Hashimoto*, Hideki Kondo, Hun Ok Lim, Atsuo Takanishi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

6 Citations (Scopus)


An online walking pattern generation is important for a biped humanoid robot to move in dynamic environments. This chapter describes a novel online walking pattern generation using Fast Fourier Transform (FFT). Most previous studies about online walking pattern generation use an inverted pendulum model, which requires other methods to compensate for errors between the model and a real robot. Because our method uses a multi-body robot model, a biped robot can dynamically change its motions online by utilizing only the proposed method. If a robot has external sensors such as a stereo vision system to recognize dynamic environments, the robot can follow a moving target. Verification of the proposed method is conducted through experiments with the human-sized humanoid robots WABIAN-2R and KOBIAN.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
PublisherKluwer Academic Publishers
Number of pages22
Publication statusPublished - 2015

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


  • Biped humanoid robot
  • Fast Fourier transform
  • Walking pattern

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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