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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 discusses biped walking which is robust to external disturbances and how it could be realized by means of achieving compliance and dynamic trajectory generation. A method of limiting the ground reaction forces is presented. It is mathematically equivalent to a conventional position control system when the ground reaction forces are within the set limits, therefore in this case the positioning...
Researchers introduced a constant center of mass walking, mainly to solve the ZMP equations analytically for center of mass trajectories in the x and y directions (case 1). In this paper, case 2 proposes that if pelvis is made constant instead, energy usage could be reduced particularly at the leg joints. CoM-based kinematics methods are used to realize each case. Walking simulations of 0.22km/h are...
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 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...
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...
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