Science Links Japan | Gait Generation for Biped Walking Robot. Introduction of Double-Leg Supporting Phase for Stabilization.

TOP > J-EAST > List of Journal Titles (N) > Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (2001) > Gait Generation for Biped Walking Robot. Introduction of Double-Leg Supporting Phase for Stabilization.

Gait Generation for Biped Walking Robot. Introduction of Double-Leg Supporting Phase for Stabilization.

Accession number;02A0585397

Title;Gait Generation for Biped Walking Robot. Introduction of Double-Leg Supporting Phase for Stabilization.

Author; TODA KENGO (Aoyama Gakuin Univ.) FURUTA TAKAYUKI (Japan Science and Technology Corporation (JST)) TOMIYAMA KEN (Aoyama Gakuin Univ.)

Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu

Journal Code:L0318A

ISSN:

VOL.2001;NO.Pt.3;PAGE.2A1.E1(1)-2A1.E1(2)(2001)

Figure&Table&Reference;FIG.6, REF.3

Pub. Country;Japan

Language;Japanese

Abstract;A new type of gait that is multi-phased including a double-leg supporting phase is proposed for a stable biped locomotion of humanoids. The double-leg supporting phase is utilized both to set an initial posture of the following single-leg supporting phase and to absorb impact force at the landing of the swinging leg. (author abst.)

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