— 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...
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...
Abstract—This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D–bipeds allowing step length adaptation, direction changes and ...
— In this paper, we present a method for co-evolving structures and controller of biped walking robots. Currently, biped walking humanoid robots are designed manually on trial-an...
Ken Endo, Fuminori Yamasaki, Takashi Maeno, Hiroak...
Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the...