Running Pattern Generation for a Humanoid Robot

Takashi Nagasaki; Shuuji Kajita; Kazuhito Yokoi; Kenji Kaneko; Hirohisa Hirukawa; Kazuo Tanie

doi:10.7210/jrsj.21.902

Takashi Nagasaki, Shuuji Kajita, Kazuhito Yokoi, Kenji Kaneko, Hirohisa Hirukawa, Kazuo Tanie

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Keywords: Running Robot, Humanoid Robot

JOURNAL FREE ACCESS

2003 Volume 21 Issue 8 Pages 902-908

DOI https://doi.org/10.7210/jrsj.21.902

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Abstract

We propose a method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum. A dynamic simulation using a model of an actual humanoid robot shows that the robot can perform running by applying a generated pattern with slight modifications. From the simulation we evaluate the required performance of actuators for a real running robot.

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