Online Biped Walking Pattern Generation with Contact Consistency
نویسندگان
چکیده
منابع مشابه
Online Walking Pattern Generation for Biped Humanoid Robot with Trunk
This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP ...
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ژورنال
عنوان ژورنال: IAES International Journal of Robotics and Automation (IJRA)
سال: 2015
ISSN: 2089-4856,2089-4856
DOI: 10.11591/ijra.v4i1.pp19-30