110 search results - page 4 / 22 » Generalized biped walking control |
CDC
2009
IEEE
14 years 13 days ago
2009
IEEE
The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An...
ICRA
2000
IEEE
14 years 1 days ago
2000
IEEE
This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved for 4 years, as uimed at the realization of the lower part of an an...
HYBRID
2009
Springer
13 years 11 months ago
2009
Springer
A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the...
ICRA
2003
IEEE
14 years 1 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...
ICRA
1995
IEEE
13 years 12 months ago
1995
IEEE
An implementation of a biped robot which as capable of dynamic walking by a simple nonlinear control algorithm. is presented. Four D.C. servo motors actuate the knee and ankle joi...