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Biped walking robots have been widely researched because biped walking is considered as an effective way to locomote in human environments. There are a lot of ways to generate biped walking patterns, and it is widely known that the model certainty of the robot and the immediate generation of the trajectory are very important. Using preview control is a useful way to generate the walking patterns....
This paper describes a biped walking pattern generation by using preview control with virtual plane method. It is important for biped robots to generate desired walking patterns which satisfy given Zero-Moment-Point (ZMP) trajectories. Solving ZMP equation is one of the key issues in the biped walking research field. Many kinds of the solutions have ever been proposed. One of the most efficient solutions...
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