• Corpus ID: 4918861

Human-like Walking of Humanoid Robot Based on Biped Kinematics and Captured Motion of Human

@inproceedings{Yuan2010HumanlikeWO,
  title={Human-like Walking of Humanoid Robot Based on Biped Kinematics and Captured Motion of Human},
  author={Qilong Yuan and I-Ming Chen},
  year={2010}
}
Human-like walking for humanoid robot is still an open research topic. This article proposes a method to generate real human-like walking pattern for humanoid robot. As walking patterns generated by existing methods differ a lot from these of human, especially for the traditional walking pattern with knee bent and pelvis lower down with a constant height, we started from the modeling of kinematics of the biped mechanism and analyzed the constrains that restrict the flexible motion of the robot… 
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