@inproceedings{03d0576e29624fbaab708ed4884f93c7,
title = "Design, simulation and walking experiments for a humanoid and gorilla robot with multiple locomotion modes",
abstract = "Aim at studying the whole humanoid and gorilla robot, a small integrated combinational gorilla robot with multiple locomotion modes and a humanoid head with facial expressions is presented in the paper. In order to meet the requirement on quadruped walking, a hand with multiple fingers that can also be used as the front foot is designed. A method of generating steady dynamic biped walking patterns based on variable ZMP is proposed. The motion simulation on the biped walking and quadruped walking of the robot by shifting the robot hands as feet is finished by means of a software for dynamics analysis, so that the basic walking ability of the robot can be ensured. On the basis of theoretical research and simulation, the experiments for biped walking and quadruped walking of the gorilla robot are finished successfully.",
keywords = "Biped walking, Gorilla robot, Humanoid robot, Multiple locomotion models, Quadruped walking",
author = "Weiguo Wu and Yuedong Lang and Fuhai Zhang and Bingyin Ren",
year = "2005",
doi = "10.1109/IROS.2005.1544957",
language = "英语",
isbn = "0780389123",
series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
pages = "44--49",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
note = "IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 ; Conference date: 02-08-2005 Through 06-08-2005",
}