— 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...
Kentaro Miyahara, Yuzuru Harada, Dragomir N. Nench...
— 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. ...
— 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 ...
Abstract— This paper presents an approach for the closedloop control of actuated biped that allows natural looking and energy efficient walking. Rather than prescribe kinematic ...
This paper presents an energy-ecient biped walking method that has been implemented in a low-cost humanoid platform, PINO, for various research purposes. For biped walking robots ...
Fuminori Yamasaki, Ken Endo, Minoru Asada, Hiroaki...