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Existing approaches to biped gait generation always need to assume appropriate parameter conditions of the walking patterns. To accomplish this, this paper aims to experimentally investigate the characteristics of the human walking, and reveal, to some extent, its balance strategies. The experimental study was carried out on a self-designed human walking testing platform, which captures the joint...
In our previous work, a random sampling-based footstep planner has been proposed for global biped navigation in environments with local minima or narrow passages. Goal-Probability Threshold (GPT) is a key parameter which controls the convergence rate of the goal-biased non-uniform sampling in this planner. In this paper, a GPT optimization approach is explained. We construct a benchmarking model,...
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