15 search results - page 1 / 3 » Biped walking pattern generation by using preview control of... |
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...
ICRA
2002
IEEE
13 years 10 months ago
2002
IEEE
— 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...
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...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
Abstract—This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D–bipeds allowing step length adaptation, direction changes and ...
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...