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...
— 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...