Tools
Sorted by:
Try your query at:
 |
 |
 |
 |
 |
 |
Results 1 - 10
of
166,887
Biped walking pattern generation by using preview control of zero-moment point
- in Proceedings of the IEEE International Conference on Robotics and Automation
, 2003
"... We introduce a new method of a biped walking pattern generation by using a preview control of the zeromoment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP bas ..."
Abstract
-
Cited by 231 (15 self)
- Add to MetaCart
We introduce a new method of a biped walking pattern generation by using a preview control of the zeromoment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP
Generalized biped walking control
- ACM Trans. Graph
, 2010
"... Figure 1: Real-time physics-based simulation of walking. The method provides robust control across a range of gaits, styles, characters, and skills. Motions are easily authored by novice users. We present a control strategy for physically-simulated walking motions that generalizes well across gait p ..."
Abstract
-
Cited by 26 (8 self)
- Add to MetaCart
can be authored interactively, with edits resulting in the instant realization of a suitable controller. The control is further shown to generalize across a variety of walking-related skills, including picking up objects placed at any height, lifting and walking with heavy crates, pushing and pulling
Planning walking patterns for a biped robot
- IEEE Transactions on Robotics and Automation
, 2001
"... Abstract—Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground con ..."
Abstract
-
Cited by 86 (4 self)
- Add to MetaCart
—Actuator specification, biped robot, stability, un-even ground, walking pattern generation. I.
Walking Algorithms for Biped Robot
, 1999
"... The complexities involved with the control of bipedal walking have been examined. The importance of the physical design of bipedal robots has been discussed, and the eect this has on the type of control schemes that can be used has been shown. Unwanted noise has been successfully removed from the a ..."
Abstract
-
Cited by 1 (0 self)
- Add to MetaCart
The complexities involved with the control of bipedal walking have been examined. The importance of the physical design of bipedal robots has been discussed, and the eect this has on the type of control schemes that can be used has been shown. Unwanted noise has been successfully removed from
Pattern generation of biped walking constrained on parametric surface
- in Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, 2005
"... Abstract—This paper describes a generation method for spatially natural biped walking. By limiting the COG (Center of Gravity) motion space to a sculptured surface, the degree of freedom of the COG matches to the number of the ZMP (Zero Moment Point) equations. The COG motion can be uniquely generat ..."
Abstract
-
Cited by 9 (0 self)
- Add to MetaCart
stretched knee is also shown in experiment using HRP-2. Index Terms—Biped robot, Waking pattern generation, Dynamic walking, Parametric surface I.
ZMP Based Reference Generation for Biped Walking Robots
"... Abstract — Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robot ..."
Abstract
-
Cited by 1 (0 self)
- Add to MetaCart
robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking
Results 1 - 10
of
166,887
