The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The paper describes a way of designing the gait for a biped robot, which is derived from falling down avoiding motion. Our proposed approach includes two phases of the motion, one is to remain standing at the spot, and the other is to take a step forward for avoiding the falling down. At first, the approach to remain standing at the spot is mentioned, where the COP on the ground should be made converge...