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This paper paves the way for contact retrieving of human motions without environment knowledge. The goal is to find out the minimal set of contacting links of the human body, that is required to perform a recorded motion. First, we fit the captured motion to a unified representation of the human: the Master Motor Map. Looking at the Minimal Oriented Bounding Boxes of the velocity and acceleration...
This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory reference for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait. ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot. ZMP reference generation algorithms based on the...
This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) reference trajectory for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait. ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot. ZMP reference generation algorithms based on the...
This paper describes the control of an autonomous biped robot capable to be subjected to external forces applied in the sagittal plane. A 1st order Takagi-Sugeno-Kang (TSK) type neuro fuzzy net, that was trained based on experimental and simulation data, is used. This net uses the zero moment point (ZMP) position and its variation as inputs, and the sagittal correction of the robot's body is obtained...
A biofeedback system whose underlying principle consists in supplying the user with supplementary sensory information related to foot sole pressure distribution through a tongue-placed tactile output device was recently developed for improving balance. The purpose of this study was to unravel the underlying control mechanisms involved in the regulation of the centre of foot pressure (CoP) displacements...
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