@inproceedings{61988bc90c0a421bae92cf01213c040f,
title = "Human-like walking patterns with pelvic rotation for a humanoid robot",
abstract = "Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the transverse plane during human walking are studied. Second, the mechanism design of a humanoid robot waist for pelvic rotations is presented. Then, a walking trajectory planning with pelvic rotation to improve the stability margin is proposed. Finally, the effectiveness of the method is demonstrated through simulations and experiments on BHR-5.",
keywords = "Biped robot, Humanoid robot, Pelvic rotation, Walking pattern generation",
author = "Wen Zhang and Qiang Huang and Zhangguo Yu and Gao Huang and Xuechao Chen and Jing Li and Gan Ma and Libo Meng and Yan Liu and Si Zhang and Weimin Zhang and Junyao Gao",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",
year = "2015",
month = mar,
day = "2",
doi = "10.1109/WCICA.2014.7053008",
language = "English",
series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "March",
pages = "1887--1892",
booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",
address = "United States",
edition = "March",
}