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Based on the liner inverted pendulum model (LIPM) for the dynamics of biped humanoid robots, an analytical method for computing stability regions relevant to standing balance of the biped humanoid robots is introduced in this paper. More precisely, two types of the stability regions are discussed in this paper with the consideration of that the zero moment point (ZMP) should be located in the supporting...
In a passenger-carrying walking humanoid robot, it is preferable to use the walking pattern generation and balance control method that can accommodate variable passenger weights. This is because the range of possible payloads for passenger weight is relatively wide, from zero to approximately one hundred kgf. If the variable weight is not considered, the walking performance and walking stability of...
This paper describes a novel walking pattern generation method for a biped humanoid robot using convolution sum in discrete domain. For a biped walking model, single mass inverted pendulum model is generally used and the ZMP equation is described by decoupled linear differential equation. In the viewpoint of linear system response, walking pattern generation can be regarded as a convolution of an...
Numerous researchers have investigated the relationship between EMG and joint torque. Most of these studies use some conventional filtering (i.e. rectification followed by low pass filtering) to estimate the electromyogram (EMG) amplitude and then relate it to the joint torque. Currently some advanced pre-processing techniques (i.e. signal whitening) are also used to estimate the EMG amplitude and...
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