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One of the main challenges in the control of biped walking is to translate the understanding gained from passive walkers to active systems. In this paper, an active/passive hybrid walking control method is studied. Firstly, a two-point walking pattern is proposed according to the structure of human feet and the features of human walking. Secondly, the energy cycle of the proposed walking pattern is...
The restriction factors for fast biped walking are the problem of ZMP and the influence of the yaw moment around support leg. In this paper, we use 3D inverted pendulum model as the walking trajectory to resolve the problem of ZMP and improved the trajectory of double support phase to enable biped fast and stable walking. Then this paper proposes the compensation by rotating the waist joint, based...
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