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ICRA
2003
IEEE
120views Robotics» more  ICRA 2003»
14 years 5 months ago
Pushing manipulation by humanoid considering two-kinds of ZMPs
This paper discusses the pushing manipulation of an object by a humanoid robot. For such a pushing task, we show that there are two kinds of ZMPs, i.e., the conventional “Zero M...
Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hiroh...
ICRA
2007
IEEE
177views Robotics» more  ICRA 2007»
14 years 6 months ago
A Path-Following Approach to Stable Bipedal Walking and Zero Moment Point Regulation
— Consider a biped evolving in the sagittal plane. The unexpected rotation of the supporting foot can be avoided by controlling the zero moment point or ZMP. The objective of thi...
Dalila Djoudi, Christine Chevallereau, J. W. Grizz...