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    ICRA
    2005
    IEEE
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    A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots
    13 years 10 months ago
    A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots
    Download  www.ssp.isee.kyushu-u.ac.jp
    — 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...
    Tomomichi Sugihara, Yoshihiko Nakamura
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