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|Title:||Real-time bipedal walking adjustment modes using truncated fourier series formulation||Authors:||Yang, L.
|Issue Date:||2008||Citation:||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|
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