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This article is aimed at presenting a technique to generate bipedal walking trajectories that can be applied to humanoid robots. The proposed method is based on maintatining the dynamic balance by using the ZMP criterion throughout single support phases. To be able to reach this goal, we employed ZMP equations in spherical coordinates, so that the rate change of intrinsic angular momentum terms in...
This paper is presenting a unified control frame to regulate possible undesired motions, which may occur throughout a bipedal walking motion. The proposed frame is based on the combination of orientation control, ZMP control and upper body motion regulation to be able to cope with distinct restriction factors and maintain dynamic balance in a feasible way. It can be plugged into one mass model based...
This paper is aimed at presenting a method to generate real-time jogging and jumping trajectories that can be applied to bipedal humanoid robots. The proposed method is based on ensuring the dynamic balance in a feasible way. For this purpose, we utilized the ZMP stability criterion and projectile motion throughout support and flight phases, respectively. In order to achieve dynamically equilibrated...
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