ICRA
2003
IEEE
13 years 9 months ago
2003
IEEE
We introduce a new method of a biped walking pattern generation by using a preview control of the zeromoment point (ZMP). First, the dynamics of a biped robot is modeled as a runn...
IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
— A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is presented. An auxiliary ZMP is realized by an inverse system added to a pattern gene...