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—Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called " the divergent component of motion ".(More)
poor availability of the ground reaction force at the boundary of the flight and support phases. We propose methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied. We also extend previously proposed boundary condition, the divergent component(More)
force. We also propose an extended model ZMP control method which uses horizontal and rotational acceleration of the upper body and step duration change to generate moments to handle disturbances too large to be handled by ground reaction force control. Combining these techniques, robust biped running is achieved.
A controller for biped running has to consider varying vertical ground reaction force while satisfying the horizontal ground reaction force and moment limits. We propose a design technique for feedback gains to stabilize the upper body position under varying vertical ground reaction force. We also propose an extended model ZMP control method which uses(More)
I n this paper. we present the mechanism, system cor$guration, basic control algorithm and integrated ,functions of the Nonda humanoid robot. Like its human counterpart, this robot lzas the ability to move forward and backward, sideways to the right or the left, as well as diagonally. I n addition, the robot can turn in any direction, walk up and down(More)
Trajectories generated from approximate dynamics models can lead biped robots to fall down due to the difference of dynamics between the approximate dynamics model and the real robot. In this paper, we propose real time methods to compensate for the dynamics error using dynamics error compensation models. Our methods satisfy the horizontal ground reaction(More)
Bipedal running can easily result in a fall due to poor availability of the ground reaction force at the boundary of the flight and support phases. We propose methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied. We also extend previously(More)