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http://dx.doi.org/10.5391/JKIIS.2013.23.4.360

Generation of Walking Trajectory of Humanoid Robot using CPG  

Lee, Jaemin (Dept. of Electronics Engineering, Seokyeong University)
Seo, Kisung (Dept. of Electronics Engineering, Seokyeong University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.23, no.4, 2013 , pp. 360-365 More about this Journal
Abstract
The paper introduces dynamic generation technique of foot trajectories using CPG(Central Pattern Generator). In this approach, the generated foot trajectories can be changeable according to variable outputs of CPG in various environments, because they are given as mapping functions of the output signals of the CPG oscillators. It enables to provide an adaptable foot trajectory for environmental change. To demonstrate the effectiveness of the proposed approach, experiments on humanoid robot Nao is executed in the Webot simulation. The performance and motion features of CPG based approach is analyzed.
Keywords
CPG(Central Pattern Generator); Foot Trajectory; Humanoid Walking; Nao;
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Times Cited By KSCI : 1  (Citation Analysis)
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