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New gait planning using a nonholonomic model with difference equation constraints is proposed for biped robot walking. A model of a pivoting telescopic segment is used as the kinematic foothold selection model of a bipedal robot. The repetitive and discontinuous constraints of pivoting, expanding, and contracting make up the set of walking trajectory data. The k-step reachable region is defined as...
A new method for bipedal walking on rough terrain by using ZMP criteria map is proposed. The rough terrain walking is classified to ldquostep uprdquo and ldquostep downrdquo by landing timing of a swing leg. The walking pattern is modified in real-time according to the difference between the ideal timing and the measured timing by a force sensor on the foot. In the case of ldquostep uprdquo, the landing...
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