Integrated motion control for walking, jumping and running on a small bipedal entertainment robot

@article{Nagasaka2004IntegratedMC,
  title={Integrated motion control for walking, jumping and running on a small bipedal entertainment robot},
  author={Ken'ichiro Nagasaka and Yoshihiro Kuroki and Shin'ya Suzuki and Yoshihiro Itoh and Jin'ichi Yamaguchi},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={4},
  pages={3189-3194 Vol.4}
}
This paper proposes the integrated motion control method to make a bipedal humanoid walk, jump and run. This method generates dynamically consistent motion patterns in real-time based on the concept of the dynamics filter, which assures that the force and the moment generated by the robot can equilibrate with that caused by the environment. The validity of the algorithm is verified by the dynamic simulation. The proposed method is applied to the real humanoid "QRIO" under the adaptive controls… CONTINUE READING
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