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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)
—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)
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.
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)
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