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This paper presents a modified gait generation method based on height compensation of center of mass (HCCOM) for biped humanoid robots. The method combines natural gait plan (NGP) and 3-D linear inverted pendulum model (3D-LIPM). By analyzing the human natural gait, the HCCOM considers the effect of swinging leg for COM height, so the hip height is no longer fixed and re-planned as a periodic movement...
This paper is to present a SCARA welding robot system with novel online welding teach function named handheld welding teaching (HWT), the mechanical structure of the SCARA robot has been adapted, include using two-layer reduction in the robot joints, adding magnet-clutch between the motor shaft and gear in each joint, equipping gravity balance device. With the adaptations the operator can move the...
A practical method of the gait generation for the biped robot based on the trajectory planning of centre of gravity(COG) is proposed. The control system of the biped robot is designed as the three layers structure: the intelligent decision layer, the motion control layer, and the motor driving layer. The walk process and the action sequence of biped robot are divided into three stages: the starting...
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