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In this paper, we propose an effective walking pattern generator based on the five-mass with angular momentum model for humanoid robot. The proposed model is composed of conventional three-mass model and conservation law of angular momentum, which describes the relationship between two swing arms and legs, to achieve a quasi human-like walking. We further design a walking pattern compensator to revise...
Inspired by the human torso, humanoid robots usually equipped with active waist joints. For arbitrary walking patterns or whole body motions, the well-designed waist trajectories can greatly enhance the motion of robot legs and allow the robot to perform larger walking step length or crossing higher stair gaps. In this paper, we develop an effective online algorithm for generating waist and arm trajectories...
In this paper, we present a trajectory generation system including a push-recovery trajectory generator to handle the push-recovery problems. We analyze the human reactions to external pushes, and construct controller mimicking human reaction in realizing on biped robot system. In the experimental scenario, we provide disturbances from planar directions to evaluate the feasibility of the system. The...
In this paper, we proposes an approach to generate arbitrary quasi-natural foot gait for the walking biped robot with variate COM height preview control. The arbitrary foot gait planning is generated by zero moment point (ZMP) mapping method and a curve with certain radius. In order to walk smoothly in turning gait, the walking pattern is designed in variate height COM motion. However, this method...
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