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When humanoid robots are going to be used in society, they should be capable to maintain the balance. Knowing where to step appears to be crucially important to remain balanced. This paper contributes the foot placement indicator (FPI), an extension to the foot placement estimator (FPE) for planar bipeds with point feet and an arbitrary number of(More)
Model based controllers are widely used to control motions of humanoid robots. In most cases these are based on the center of mass (CoM) model of the humanoid. For this it is important that the parameters of this model are accurately known. In this paper we contribute a method to estimate the base parameters of the full 3D CoM model of humanoid robots. This(More)
Different models are used in literature to approximate the complex dynamics of a humanoid robot. Many models use strongly varying model assumptions that neglect the influence of feet, discontinuous ground impact, internal dynamics and coupling between the 3D coronal and sagittal plane dynamics. Often motivation is lacking why a certain model should be(More)
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