20 search results - page 2 / 4 » Online Trajectory Generation for Omnidirectional Biped Walki... |
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...
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 ...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
- This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant veloc...
IROS
2009
IEEE
14 years 1 days ago
2009
IEEE
— This paper describes 3D biped walking generation and control based on Limit Cycle Walking. In our study, we use the simplest possible 3D biped model with three DOFs, incorporat...
ICRA
2006
IEEE
13 years 11 months ago
2006
IEEE
— We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of...