Please use this identifier to cite or link to this item: https://doi.org/10.1142/S0219843610002003
Title: Real-time bipedal walking gait adjustment modes based on a Truncated Fourier Series Model
Authors: Yang, L.
Chew, C.-M. 
Poo, A.-N. 
Zielinska, T.
Keywords: Bipedal gait adjustment
Learning
Truncated Fourier series
Issue Date: Mar-2010
Source: Yang, L.,Chew, C.-M.,Poo, A.-N.,Zielinska, T. (2010-03). Real-time bipedal walking gait adjustment modes based on a Truncated Fourier Series Model. International Journal of Humanoid Robotics 7 (1) : 95-126. ScholarBank@NUS Repository. https://doi.org/10.1142/S0219843610002003
Abstract: This paper presents three basic bipedal walking gait adjustment modes: step-frequency, step-length and biped lower extremities' pattern adjustments. All the adjustment modes are based on a simple Fourier Series formulation named the Truncated Fourier Series (TFS) model which is newly proposed as a walking pattern generator. Making use of these three gait adjustment modes, bipedal walking can be modified in real-time according to the environment changes. In this paper, the developed gait adjustment modes have been studied by dynamic simulations. The results obtained show that stable walking on uneven terrains as well as human-like walking behaviors can be achieved. © 2010 World Scientific Publishing Company.
Source Title: International Journal of Humanoid Robotics
URI: http://scholarbank.nus.edu.sg/handle/10635/61204
ISSN: 02198436
DOI: 10.1142/S0219843610002003
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