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New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with cart-table model based on the bipedal robot technique, the robot's center of mass trajectory is planned for the dynamic motion...
A new method for bipedal walking on rough terrain by using ZMP criteria map is proposed. The rough terrain walking is classified to ldquostep uprdquo and ldquostep downrdquo by landing timing of a swing leg. The walking pattern is modified in real-time according to the difference between the ideal timing and the measured timing by a force sensor on the foot. In the case of ldquostep uprdquo, the landing...
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