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Robust motion is of great significance when humanoids are placed in complex and uncertain environments. In this paper, multitasks are merged in the way of null space projection according to their priorities. Momentum compensation is considered as one task and utilized to reject unknown disturbances. Two strategies are put forward to restrain the sudden change of momentum. One is to calculate the correction...
This paper presents a passive dynamic walking model that can walk down stairs. Knee-bend mechanism which is inspired from the pattern of human's walking down stairs is designed in the walking model. The stance knee is designed to be bent between knee-strike and heel-strike. The bending time of the stance leg after knee-strike is adjusted to adapt to the stair height. By traversing the bending time...
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