Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.mechmachtheory.2008.09.007
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dc.titleRobot gait synthesis using the scheme of human motions skills development
dc.contributor.authorZielinska, T.
dc.contributor.authorChew, C.-M.
dc.contributor.authorKryczka, P.
dc.contributor.authorJargilo, T.
dc.date.accessioned2014-04-24T09:36:52Z
dc.date.available2014-04-24T09:36:52Z
dc.date.issued2009-03
dc.identifier.citationZielinska, T., Chew, C.-M., Kryczka, P., Jargilo, T. (2009-03). Robot gait synthesis using the scheme of human motions skills development. Mechanism and Machine Theory 44 (3) : 541-558. ScholarBank@NUS Repository. https://doi.org/10.1016/j.mechmachtheory.2008.09.007
dc.identifier.issn0094114X
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/51516
dc.description.abstractThis work presents biologically inspired method of gait generation. Referring to the periodic signals generated by biological CPG, the coupled oscillators with correction functions are used to produce leg joint trajectories. The method of oscillators parameters evaluation using genetic algorithm is described. The correction functions are introduced. The gait formula suitable for real-time motion generation taking into account the positioning errors is given. Generated gait can be used as the basis for modifications to produce more complex motions. The problem of suitability of human gait for bipeds with body proportions different than that in human body is discussed. © 2008 Elsevier Ltd. All rights reserved.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/j.mechmachtheory.2008.09.007
dc.sourceScopus
dc.subjectBipeds
dc.subjectGait generation
dc.subjectHumanoidal robots
dc.typeArticle
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1016/j.mechmachtheory.2008.09.007
dc.description.sourcetitleMechanism and Machine Theory
dc.description.volume44
dc.description.issue3
dc.description.page541-558
dc.description.codenMHMTA
dc.identifier.isiut000263293600004
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