TY - GEN
T1 - Realization of walking by FFT-based online pattern generation
AU - Kondo, Hldeki
AU - Shimizu, Juri
AU - Hashimoto, Kenji
AU - Hattori, Kentaro
AU - Nishikawa, Kosuke
AU - Akezaki, Yuki T.
AU - Hama, Yuichiro
AU - Yoshimura, Yuki
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2010/12/1
Y1 - 2010/12/1
N2 - This paper describes about an online pattern generation based on FFT (Fast Fourier Transform). Until now, authors have adopted the offline FFT-based pattern generation. However, it's needed to regard the compensated moment from starting walking to stopping as a periodic function and it's difficult to generate a part of walking pattern. As a solution, it's found that the compensatory waist trajectory for the compensated moment which is cut out with a window of predetermined duration is proper only in the center part of the window. That means the whole trajectory is obtained as a series of the partial ones. Therefore, the online pattern generation is realized by generating a partial trajectories in the proposed way while walking.
AB - This paper describes about an online pattern generation based on FFT (Fast Fourier Transform). Until now, authors have adopted the offline FFT-based pattern generation. However, it's needed to regard the compensated moment from starting walking to stopping as a periodic function and it's difficult to generate a part of walking pattern. As a solution, it's found that the compensatory waist trajectory for the compensated moment which is cut out with a window of predetermined duration is proper only in the center part of the window. That means the whole trajectory is obtained as a series of the partial ones. Therefore, the online pattern generation is realized by generating a partial trajectories in the proposed way while walking.
UR - http://www.scopus.com/inward/record.url?scp=84885604036&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885604036&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84885604036
SN - 9814291269
SN - 9789814291262
T3 - Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
SP - 615
EP - 622
BT - Mobile Robotics
T2 - 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
Y2 - 9 September 2009 through 11 September 2009
ER -