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This paper presented a method of realizing online trajectory calculation and gait change on the teleoperation system of humanoid robot BHR-2. The trajectory calculation is based on key parameters include hip and ankle positions etc., which come from offline gait programming. We designed the control arithmetic which calculated all joint angles on-line basis the data file of key parameters when motion...
This paper proposed a method of online trajectory generation based on key parameters of off-line trajectories for a biped humanoid. The key parameters include hip parameters, step length, walking cycle and so on. The walk pattern can be obtained according to these parameters. In order to generate walk patterns online, first key parameters of the on-line walk pattern are computed based on the off-line...
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