A novel planar walking algorithm for virtual walking machine

Abstract

This paper proposes a novel planar walking algorithm for the Virtual Walking Machine (VWM), which is a dual foot platform type locomotion interface. Unlike existing algorithms used for VWM, the proposed algorithm utilizes a constraint relationship between two platforms as well as position control. Experiments on the VWM show that the proposed planar walking algorithm can generate straight and turning motions which are smoother and collision-free. Keywords: Locomotion Interface, Walking Algorithm, Navigation. © 2006 Springer-Verlag Berlin/Heidelberg.