53 search results - page 5 / 11 » Trajectory Planning for the Walking Biped |
IJRR
2011
14 years 4 months ago
2011
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...
SIGGRAPH
2010
ACM
15 years 1 months ago
2010
ACM
We present a dynamic controller to physically simulate underactuated three-dimensional full-body biped locomotion. Our datadriven controller takes motion capture reference data to...
ICRA
2005
IEEE
15 years 3 months ago
2005
IEEE
— This paper describes a generation method for spatially natural biped walking. By limiting the COG (Center of Gravity) motion space to a sculptured surface, the degree of freedo...
ICRA
2005
IEEE
15 years 3 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...
ICRA
2005
IEEE
15 years 3 months ago
2005
IEEE
— We explore the use of computational optimal control techniques for automated construction of policies in complex dynamic environments. Our implementation of dynamic programming...