— A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is presented. An auxiliary ZMP is realized by an inverse system added to a pattern gene...
— Human walking emerges from synergy of whole body dynamics: not only legs, but also a torso, arms, and a head are compliantly connected with each other by antagonistic muscles. ...
Developing a robust, flexible, closed-loop walking algorithm for a humanoid robot is a challenging task due to the complex dynamics of the general biped walk. Common analytical ap...
— In this paper, we present a method for co-evolving structures and controller of biped walking robots. Currently, biped walking humanoid robots are designed manually on trial-an...
Ken Endo, Fuminori Yamasaki, Takashi Maeno, Hiroak...
Abstract—This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D–bipeds allowing step length adaptation, direction changes and ...