14 search results - page 1 / 3 » A Realtime Pattern Generator for Biped Walking |
ICRA
2002
IEEE
13 years 10 months ago
2002
IEEE
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. T...
GECCO
2006
Springer
13 years 8 months ago
2006
Springer
In this paper an evolutionary algorithm is used for evolving gaits in a walking biped robot controller. The focus is fast learning in a real-time environment. An incremental appro...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
We introduce a new method of a biped walking pattern generation by using a preview control of the zeromoment point (ZMP). First, the dynamics of a biped robot is modeled as a runn...
IROS
2006
IEEE
13 years 11 months ago
2006
IEEE
— A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is presented. An auxiliary ZMP is realized by an inverse system added to a pattern gene...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— This paper describes a generation method for spatially natural biped walking. By limiting the COG (Center of Gravity) motion space to a sculptured surface, the degree of freedo...