Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/47534
Title: BIPED GAIT GENERATION FOR HUMANOID DYNAMIC WALKING
Authors: NG BUCK SIN
Keywords: gait generation, humanoid, dynamic walking, biped
Issue Date: 22-Jan-2013
Source: NG BUCK SIN (2013-01-22). BIPED GAIT GENERATION FOR HUMANOID DYNAMIC WALKING. ScholarBank@NUS Repository.
Abstract: Gait generation of the humanoid robot for bipedal locomotion is a complex and difficult problem. The high dimensional state space and inherently hard-to-stabilize dynamics of the humanoid pose challenges in creating robust bipedal walking. Physical constraints and limitations in the implementation further aggravate the stability control of bipedal systems. In this dissertation, gait generation of the humanoid robot for fast dynamical walking is proposed and realized through (1) generation of sustainable lateral walk-oscillation, (2) omnidirectional walking and (3) compliant control. The approaches have low computational complexity, are simple and do not require the detailed dynamical model of the robot.
URI: http://scholarbank.nus.edu.sg/handle/10635/47534
Appears in Collections:Ph.D Theses (Open)

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