Humanoid gait synthesis with moving single support ZMP trajectories

@inproceedings{Erbatur2007HumanoidGS,
  title={Humanoid gait synthesis with moving single support ZMP trajectories},
  author={Kemalettin Erbatur and Utku Seven},
  year={2007}
}
Humanoid robots attracted the attention of many researchers in the last four decades. The control of a biped humanoid is a difficult task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Reference generation techniques with the so-called Linear Inverted Pendulum Model (LIPM) are reported. Improved versions of the LIPM based reference generation are obtained by applying the Zero Moment Point (ZMP) Criterion, widely employed in the stability… CONTINUE READING

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