Capture point trajectories for reduced knee bend using step time optimization

Abstract

Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of knee-bend can be required due to arbitrarily chosen step timing. In this work, we present a method that examines the… (More)
DOI: 10.1109/HUMANOIDS.2017.8239533

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