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Humanoid Locomotion: An Experimental Study on Signal Processing and Dynamic Approaches to Humanoid Walk GenerationIt is hoped that one day robots will assist in lunar and Martian surface exploration by constructing facilities before their human counterparts arrive; robots with a human form-factor may be desirable since they can potentially use the same set of tools designed for humans. With the goal in mind, locomotion may be one of the biggest challenges for a humanoid sine the terrain is most likely uneven and varying. An adjustable walk has been developed for the HOAP-2 robot by gathering motor data from a preprogrammed fixed walk and using signal processing techniques. The result is a basic walk pattern adjustable in the frequency domain that can be used as a central pattern generator (CPG) in which the robot can modify using sensor feedback. Ultimately, the feedback can be applied to have the humanoid walk on various terrains, slopes, and avoid obstacles.
Document ID
Acquisition Source
Jet Propulsion Laboratory
Document Type
Gan, Quan
(California Univ. Berkeley, CA, United States)
Date Acquired
August 23, 2013
Publication Date
August 1, 2005
Publication Information
Publication: Summer Student Research Presentations
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Work of the US Gov. Public Use Permitted.

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