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This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined floor. Many walking control techniques have been develope...
A class of biped locomotion called Passive Dynamic Walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is s...
Several french laboratories, joint in the CNRS Project "Control of Legged Robots", have defined a biped robot intented to experiment walking and running gaits. This bipe...
- This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant veloc...
— 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...
– Biped walking is one of the most graceful movements observed in humans. Today’s humanoid robots, despite their undeniably impressive performance, are still a long way from th...
Kojiro Matsushita, Max Lungarella, Chandana Paul, ...