Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICHR.2007.4813897
Title: Real-time bipedal walking adjustment modes using truncated fourier series formulation
Authors: Yang, L.
Chew, C.-M. 
Poo, A.-N. 
Issue Date: 2008
Source: Yang, L.,Chew, C.-M.,Poo, A.-N. (2008). Real-time bipedal walking adjustment modes using truncated fourier series formulation. Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007 : 379-384. ScholarBank@NUS Repository. https://doi.org/10.1109/ICHR.2007.4813897
Abstract: This paper presents three basic bipedal walking gait adjustment modes: stride-frequency adjustment, steplength adjustment and biped lower extremities' pattern adjustment. All the adjustment modes are based on the simple Fourier series formulation named as Truncated Fourier Series (TFS) model newly proposed as a walking pattern generator. Making use of these three gait adjustment modes, bipedal walking can be modified in real-time adaptive to the environment changes and resemble human walking response and features. Through dynamic walking simulations under various conditions, the gait adjustment modes are shown to be effective for adaptive walking on uneven terrains and real-time walking pace adjustment. © 2008 IEEE.
Source Title: Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
URI: http://scholarbank.nus.edu.sg/handle/10635/73798
ISBN: 9781424418626
DOI: 10.1109/ICHR.2007.4813897
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

3
checked on Dec 5, 2017

Page view(s)

24
checked on Dec 9, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.