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Toward the enhancement of biped locomotion and control techniques: walking pattern classification

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Abstract

A new walking pattern classification method is proposed for a 5-link 7-DOF biped robot walking on an uneven floor. This method extracts the patterns in the current floor position of the stance foot and the transitioning floor conditions of the swing foot during locomotion. When a global path composed of stairs, obstacles, etc., and certain walking parameters, such as the speed of walking and the total walking time, are put into the system, the guidance controller unit determines the trajectory of the footsteps in terms of step patterns by using a genetic algorithm-based optimization technique while ensuring the biped’s stability criterion. A demonstration of the biped with different pattern classes was realized by a dynamic simulator.

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Author information

Authors and Affiliations

  1. Mitsubishi Electric Corporation, Advanced Technology R&D Center, Amagasaki City, Japan

    Basak Yuksel

  2. Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey

    Basak Yuksel & Kemal Leblebicioğlu

Authors
  1. Basak Yuksel
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  2. Kemal Leblebicioğlu
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Corresponding author

Correspondence to Basak Yuksel.

Additional information

This work was presented in part and awarded Best Paper Award at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011

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Yuksel, B., Leblebicioğlu, K. Toward the enhancement of biped locomotion and control techniques: walking pattern classification. Artif Life Robotics 16, 208–213 (2011). https://doi.org/10.1007/s10015-011-0919-7

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  • DOI: https://doi.org/10.1007/s10015-011-0919-7

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