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• W2000498546 abstract "Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the transverse plane during human walking are studied. Second, the mechanism design of a humanoid robot waist for pelvic rotations is presented. Then, a walking trajectory planning with pelvic rotation to improve the stability margin is proposed. Finally, the effectiveness of the method is demonstrated through simulations and experiments on BHR-5." @default.
• W2000498546 created "2016-06-24" @default.
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• W2000498546 date "2014-06-01" @default.
• W2000498546 modified "2023-09-26" @default.
• W2000498546 title "Human-like walking patterns with pelvic rotation for a humanoid robot" @default.
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• W2000498546 doi "https://doi.org/10.1109/wcica.2014.7053008" @default.
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