Abstract— This paper proposes the kinodynamic gait planning for humanoid robots where both kinematics and dynamics of the system are considered. We can simultaneously plan both t...
— A fast online gait planning method is proposed. Based on an approximate dynamical biped model whose mass is concentrated to COG, general solution of the equation of motion is a...
- Motion planning is one of the key capabilities for autonomous humanoid robots. Previous researches have focused on weight balancing, collision detection, and gait generation. Mos...
Abstract— A number of conceptually simple but behaviorrich “inverted pendulum” humanoid models have greatly enhanced the understanding and analytical insight of humanoid dyna...
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...