— This paper addresses the problem of naturally looking and energy efficient walk of biped humanoids. We presuppose that such walk requires motion control capability around kine...
Kentaro Takahashi, M. Noda, Dragomir N. Nenchev, Y...
This paper presents a method for learning the parameters of rhythmic walking to generate purposive humanoid motions. The controller consists of the two layers: rhythmic walking is...
This paper describes methods used in stabilizing the walking gait of TAO-PIE-PIE, a small humanoid robot given rate feedback from two RC gyroscopes. TAO-PIE-PIE is a fully autonomo...
— Recently, many researchers on humanoid robotics are interested in Quasi-Passive-Dynamic Walking (Quasi-PDW) which is similar to human walking. It is desirable that control para...
— 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 ...