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The present paper addresses strategies of changing the reference trajectories of the future ZMP that are used for online repetitive walking pattern generation. Walking pattern generation operates with a cycle of 20 [ms], and the reference ZMP trajectory is adjusted according to the current actual motion status in order to maintain the current balance. Three different strategies are considered for...
This paper addresses sensor feedback control methods that are used with short cycle walking pattern generation and realize walking on uneven terrains which are not modelled in advance. We have proposed an online walking control system that generates a dynamically stable motion pattern in short cycles, such as 20 [ms]. The system is capable of reflecting the actual motion status which is modified from...
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