Sang-Sin Park

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This paper presents a new forward walking pattern known as stretch-legged walking and posture control algorithm in single support phase. Additionally, what has been termed the Walking Guide Platform (WGP) was developed to verify the developed walking pattern. Walking pattern is generated by simple function such as sine function and 3 polynomial. Especially(More)
For a biped robot to keep walking, basic walking patterns are needed. One method to generate these patterns is to use an extrapolated center of mass (XcoM) concept and constant zero-moment point (ZMP) patterns. However, center of mass (CoM) patterns generated from such a method have discontinuous ZMP and CoM accelerations. For solving this problem, we(More)
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