Towards Fast Walking based on ZMP Control and Central Pattern Generator
نویسندگان
چکیده
Many researchers, up to now, have modeled the biped walking by considering the height of Center of Mass (CoM) as a fixed constant, other biomechanical studies show that the CoM height is variant during walking and running[1]. The shape of CoM height trajectory is important for energy consumption, and it varies differently for various speeds and step length ranges [2]. Although linear inverted pendulum model (LIMP) is widely used in robotics, but robots often need to keep their knees bent in order to keep the height of CoM fixed, as the constraint of this model. Therefore, the change of the CoM height is important for walking and running.
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