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This paper is presenting a method to generate real-time running and jumping trajectories that can be applied to bipedal humanoid robots. The proposed method is based on maintaining the overall dynamic balance by using the ZMP stability criterion throughout support phases. To be able to reach this goal, we utilize ZMP equations in spherical coordinates, so that the rate change of angular momentum terms...
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...
As a recent trend in humanoid robot research, running motion appears to be a very important issue since faster and faster mobility is required. Being an essential fact, jumping phenomenon seems to be the previous step of succeeding running motion as jumping dynamics play the key role to achieve stable running motion cycles. Therefore, in this paper, authors group sought a method to generate real-time...
The restriction factors for fast biped walking are the problem of ZMP and the influence of the yaw moment around support leg. In this paper, we use 3D inverted pendulum model as the walking trajectory to resolve the problem of ZMP and improved the trajectory of double support phase to enable biped fast and stable walking. Then this paper proposes the compensation by rotating the waist joint, based...
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