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Walking pattern generation is a main issue for humanoid robot. We have already proposed a method for planning stable walking pattern. Based on this method, this paper mainly discusses generating stable and harmonious walking pattern by considering upper body motion, and planning hip trajectories in both sagittal plane and lateral plane. To reduce the iterative computation cost, some constraints of...
This paper proposed a method of realizing online trajectory generation based on two-computer system of humanoid robot BHR-02. The trajectory generation is based on key parameters of off-line typical walk patterns for a biped humanoid. The computer system includes motion control computer, Memolink, and vision computer. We designed the distributed architecture and realization software including online...
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