32 search results - page 1 / 7 » Trajectory planning for smooth transition of a biped robot |
ICRA
2003
IEEE
13 years 9 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...
ICRA
1998
IEEE
13 years 8 months ago
1998
IEEE
In this paper we address the problem of energyoptimal gait generation for biped robots. Using a simpli ed robot dynamics that ignores the e ects of centripetal forces, we obtain u...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— 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...
ISRR
2005
Springer
13 years 10 months ago
2005
Springer
Abstract. We present an interpolation-based planning and replanning algorithm for generating smooth paths through non-uniform cost grids. Most grid-based path planners use discrete...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
— Legged robots represent great promise for transport in unstructured environments. However, it has been difficult to devise motion planning strategies that achieve a combinatio...