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This paper proposes the methods of generation of the energy-efficient trajectory and the centroid trajectory for the biped robot. Based on the function approximation method, the energy-efficient trajectory between the initial state and the terminal state is generated by converting minimization of energy consuming to minimization of input torques. Reducing the biped robot to an inverted pendulum, the...
The gait stability of Passive Dynamic Walking is sensitive to the initial walking state, which must be adjusted precisely for continuous gaits. A novel torque shaping control method is proposed to obtain the initial stable gait for the passive dynamic walker within a gait period in this paper. Meantime, the stability of the system with this controller is proved. Therefore, the unstable initial state...
When the initial state of the stable gaits does not match the structure parameter values, the robot may fall down. To estimate a initial state of the stable gaits for the biped robot with knees, a new numerical method is proposed in this paper. It is based on the theories of cell mapping and Poincareacute return map. This numerical method has general applicability. We can use this method to estimate...
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