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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
Truncated Fourier series
Issue Date: Mar-2010
Citation: 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.
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
ISSN: 02198436
DOI: 10.1142/S0219843610002003
Appears in Collections:Staff Publications

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