Stretch walking pattern generation for a biped humanoid robot

Yu Ogura*, Hun Ok Lim, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper describes a knee stretch walking for the biped robot having three degrees of freedom (DOF) in each ankle, one DOF in each knee, three DOF in each hip and two DOF in the waist. Firstly, the initial parameters, foot and waist trajectories and a knee joint trajectory of the supporting leg, are given. Secondly, the motion pattern of the swing leg is generated by inverse kinematics. Finally, the roll motion of the waist is used to avoid the singularity of the swing leg. Also, a compensatory motion algorithm is discussed in this paper, which cancels moments generated by the motion of the legs. Through stretch walking simulations, the effectiveness of the stretch walking pattern generation method is confirmed.

Original languageEnglish
Pages (from-to)3509-3515
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number12
Publication statusPublished - 2004 Dec
Externally publishedYes


  • Biped Walking Robot
  • Humanoid Robot
  • Stretch Walking

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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