A novel gait generation for biped walking robots based on mechanical energy constraint

@article{Asano2002ANG,
  title={A novel gait generation for biped walking robots based on mechanical energy constraint},
  author={Fumihiko Asano and Masaki Yamakita and Norihiro Kamamichi and Zhiwei Luo},
  journal={IEEE Transactions on Robotics and Automation},
  year={2002},
  volume={20},
  pages={565-573}
}
This paper proposes novel energy-based gait generation and control methods for biped robots based on an analysis of passive dynamic walking. First, we discuss the essence of dynamic walking using a passive walker on a gentle slope from the mechanical energy point of view. Second, we propose a simple and effective gait-generation method, which imitates the energy behavior in every walking cycle considering the zero-moment point condition and other factors of the active walker. The control… CONTINUE READING
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