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Humanoid robot is the most popular robot type, which requires biped walking as a basic locomotion technique. This paper newly proposes a design technique of two-stage gait cycle adopting the joint angle data for normal walking, interpolation techniques with blending polynomial, and PSO as a global optimization method. Effectiveness of the proposed gait design scheme is verified through simulation.
This paper proposes a new approach to generate joint trajectories of a humanoid robot for kicking forward, which is one of the basic motions in Taekwondo. This type of motion generation is regarded difficult because of high dimensional complexities under the Denavit-Hartenberg kinematic convention especially in case of the humanoid robot. However, the projection based kinematics enables us to intuitively...
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