Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, com...
— Recently, many researchers on humanoid robotics are interested in Quasi-Passive-Dynamic Walking (Quasi-PDW) which is similar to human walking. It is desirable that control para...
- This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant veloc...
— We present a system of coupled nonlinear oscillators to be used as programmable central pattern generators, and apply it to control the locomotion of a humanoid robot. Central ...
Most robot designers make the mechanical interface between an actuator and its load as stiff as possible[9][10]. This makes sense in traditional position-controlled systems, becau...
Gill A. Pratt, Matthew M. Williamson, Peter Dilwor...