21 search results - page 3 / 5 » Experimental evaluation of the dynamic simulation of biped w... |
AAAI
2010
13 years 5 months ago
2010
Developing a robust, flexible, closed-loop walking algorithm for a humanoid robot is a challenging task due to the complex dynamics of the general biped walk. Common analytical ap...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— Human walking emerges from synergy of whole body dynamics: not only legs, but also a torso, arms, and a head are compliantly connected with each other by antagonistic muscles. ...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper proposes a simple passivity-based disturbance rejection scheme for force-controllable biped humanoids. The disturbance rejection by force control is useful not only ...
IROS
2009
IEEE
13 years 12 months ago
2009
IEEE
— Most of traditional biped walkers based on passive dynamic walking have arc feet and locked ankle joints. In this paper, we propose the method to substitute the arc feet with ï...
ICRA
2006
IEEE
13 years 11 months ago
2006
IEEE
— 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 ...