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...
— 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. ...
Abstract—This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D–bipeds allowing step length adaptation, direction changes and ...
— A fast online gait planning method is proposed. Based on an approximate dynamical biped model whose mass is concentrated to COG, general solution of the equation of motion is a...
Abstract— This paper presents an approach for the closedloop control of actuated biped that allows natural looking and energy efficient walking. Rather than prescribe kinematic ...