@inproceedings{34e0362b8ac5468b9acf1ab0669ef757,
title = "Trajectory calculation and gait change on-line for humanoid teleoperation",
abstract = "This paper presented a method of realizing online trajectory calculation and gait change on the teleoperation system of humanoid robot BHR-2. The trajectory calculation is based on key parameters include hip and ankle positions etc which come from offline gait programming. We designed the control arithmetic which calculated all joint angles on-line basis the data file of key parameters when motion control computer accepted the instruction from the remote cockpit of the teleopertion system, finally modified them real-time basis sensor information. Basis online trajectory calculation we realized gait change on-line for humanoid teleoperation. The effectiveness of the presented method is confirmed by teleoperation experiments with our developed humanoid robot BHR-2.",
keywords = "Humanoid robot, Online gait change, Online trajectory calculation, Teleoperation",
author = "Tao Xiao and Qiang Huang and Jianxi Li and Weimin Zhang and Kejie Li",
year = "2006",
doi = "10.1109/ICMA.2006.257437",
language = "English",
isbn = "1424404665",
series = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",
pages = "1614--1619",
booktitle = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",
note = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 ; Conference date: 25-06-2006 Through 28-06-2006",
}