110 search results - page 5 / 22 » Nonlinear Feedback Control of a Biped Walking Robot |
ICRA
2003
IEEE
13 years 12 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...
ROBOCUP
2007
Springer
14 years 24 days ago
2007
Springer
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the ...
IROS
2006
IEEE
14 years 21 days ago
2006
IEEE
— 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...
IROS
2007
IEEE
14 years 29 days ago
2007
IEEE
— 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. ...
ICRA
2003
IEEE
13 years 12 months ago
2003
IEEE
Abstract—This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D–bipeds allowing step length adaptation, direction changes and ...