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In this paper, a real-time walking trajectory generation method with three-mass models at constant body height for 3-D biped robots is extended for a diagonal walking. By realization of the diagonal walking, the availability is improved. The modeling of this method is more precise than that of conventional real-time walking trajectory generation methods. In this method, the zero-moment point equation...
Many walking pattern generators for humanoid robots require predefined trajectories for the robot to track. This inflexibility limits the range of real-world environments that the robot can navigate through. For environments with obstacles and inconsistent terrain, the ability to change the walking trajectory becomes valuable. Using a miniature humanoid, a three-dimensional inverted pendulum model...
In this paper the method used to implement the natural human gait for a humanoid robot is presented. This work is part of the humanoid robot project called Archie. The project Archie started on 2004 in the Institute of Handling Robotics and Technology at Vienna University of Technology. The aim of this project is to build a robot that can imitate human's basic activities such as walking. In this work...
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