Generation of optimal trajectories for ascending and descending a stair of a humanoid based on uDEAS

Abstract

In this paper, a humanoid is simulated and implemented to walk up and down a staircase using the blending polynomial and univariate dynamic encoding algorithm for searches (uDEAS). The motivation of this paper is to divide efficient walking step for a commercial humanoid when ascending and descending a stair. Therefore ascending and descending a staircase… (More)
DOI: 10.1109/FUZZY.2009.5277335

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Cite this paper

@article{Kim2009GenerationOO, title={Generation of optimal trajectories for ascending and descending a stair of a humanoid based on uDEAS}, author={Eunsu Kim and Jo-Hwan Kim and Jong-Wook Kim}, journal={2009 IEEE International Conference on Fuzzy Systems}, year={2009}, pages={660-665} }