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This paper presents a modified gait generation method based on height compensation of center of mass (HCCOM) for biped humanoid robots. The method combines natural gait plan (NGP) and 3-D linear inverted pendulum model (3D-LIPM). By analyzing the human natural gait, the HCCOM considers the effect of swinging leg for COM height, so the hip height is no longer fixed and re-planned as a periodic movement...
For the one-legged robot, a modified SLIP model is studied in this paper and dynamical characteristics of flight phase, impact phase and stance phase in hopping gait are analyzed. A hybrid dynamics correspond to these phases are derived by Newton-Euler Recursive Approach. Through dynamics, the gait planning of stable hopping and different forwarding velocities transition are mathematically described...
Navigation is one of the key issues of biped robot, especially in complicated and uncertain human-living environment. There have been challenges for ensuring the stability, efficiency and security of the biped navigation system. In this paper, a framework utilizing sampling-based footstep planner is proposed for the simulation of the biped navigation. Sensor fusion method is adopted to process and...
This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position,...
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