- This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors i...
Arash Mahboobin, Patrick J. Loughlin, Mark S. Redf...
We describe a framework for the automatic synthesis of biped locomotion controllers that adapt to uneven terrain at run-time. The framework consists of two components: a per-foots...
— This paper proposes a simple passivity-based disturbance rejection scheme for force-controllable biped humanoids. The disturbance rejection by force control is useful not only ...
— Recently, there has been a growing interest in biologically inspired biped locomotion control with Central Pattern Generator (CPG). However, few experimental attempts on real h...
Gen Endo, Jun Nakanishi, Jun Morimoto, Gordon Chen...
This paper proposes a three-dimensional biped dynamic walking algorithm based on Passive Dynamic Autonomous Control (PDAC) which is previously proposed. The robot dynamics is model...