— We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of...
Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyo...
Abstract— This paper presents a framework for the dynamical formulation and control of humanoid systems. In this framework unactuated virtual joints are used to describe the huma...
A class of biped locomotion called Passive Dynamic Walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is s...
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...
— This paper presents a method for the control of locomotion in a robot hexapod. The approach is based on the WalkNet structure, which in turn is based on the neural control stru...