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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 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...
In this paper, characteristics of dynamic biped walking is discussed. With ZMP (zero moment point) concept, frictional constraint, and inverted pendulum model, stable biped walking condition is given out. With this, biped walking is separated into initial acceleration, double support, deceleration, and acceleration phases; consequently, the nature that biped walking is in fact a continuous acceleration...
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