Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition

@article{Maeba2012DynamicalAO,
  title={Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition},
  author={Tomohide Maeba and Mamoru Minami and Akira Yanou and Takayuki Matsuno and Jumpei Nishiguchi},
  journal={2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
  year={2012},
  pages={7-14}
}
Biped locomotion created by a controller based on Zero-Moment Point [ZMP] known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this paper, walking model of humanoid including slipping… CONTINUE READING

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Y Zhang and A

  • W. Song, M. Minami, T. Maeba
  • Yanou, “Visual Lifting Stabilization of Dynamic…
  • 2011
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