@inproceedings{12b2c4cf1b024435bee20f78f9541373,
title = "Dynamic Gait Transition of a Humanoid Robot from Hand-Knee Crawling to Bipedal Walking based on Kinematic Primitives",
abstract = "We propose a full-body joint trajectory generation method for dynamic gait transition of a humanoid robot from hand-knee crawling to bipedal walking. Kinematic primitives are extracted from stable walking and crawling. Then candidate joint trajectories of transition are constructed based on the basic patterns and polynomial interpolation with varying parameters. The set of joint trajectories with the largest stability margin is selected as the final transition pattern. The proposed motion planning method is validated on the simulated model of our recently developed humanoid robot BHR-6. A static transition method is used for comparison.",
author = "Yan Huang and Qingqing Li and Aiguo Ming and Yu Liu and Yaliang Liu and Qiang Huang",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 ; Conference date: 31-10-2019 Through 02-11-2019",
year = "2019",
month = oct,
doi = "10.1109/ARSO46408.2019.8948746",
language = "English",
series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",
publisher = "IEEE Computer Society",
pages = "240--245",
booktitle = "2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019",
address = "United States",
}