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ICRA
2000
IEEE
106views Robotics» more  ICRA 2000»
14 years 3 months ago
Planning of Joint Trajectories for Humanoid Robots Using B-Spline Wavelets
The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of the humanoid rob...
Ales Ude, Christopher G. Atkeson, Marcia Riley
ICRA
2006
IEEE
160views Robotics» more  ICRA 2006»
14 years 5 months ago
Modulation of Simple Sinusoidal Patterns by a Coupled Oscillator Model for Biped Walking
— We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of...
Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyo...