A Smooth Planar Walking Algorithm for Virtual Walking Machine(K-WalkerTM)

Abstract

This paper proposes a novel planar walking algorithm for the Virtual Walking Machine that is a dual foot platform type locomotion interface. Unlike existing algorithms, 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, collision-free. © 2006 ICASE.