Online humanoid walking control system and a moving goal tracking experiment

@article{Nishiwaki2003OnlineHW,
  title={Online humanoid walking control system and a moving goal tracking experiment},
  author={Koichi Nishiwaki and Satoshi Kagami and James J. Kuffner and Masayuki Inaba and Hirochika Inoue},
  journal={2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)},
  year={2003},
  volume={1},
  pages={911-916 vol.1}
}
  • K. Nishiwaki, S. Kagami, H. Inoue
  • Published 10 November 2003
  • Computer Science
  • 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
We present a humanoid walking control system that generates body trajectories to follow a given desired motion online. A layered software and control architecture is used to aggregate system components and provide a framework for high-level autonomous locomotion behaviors. Walking characteristics such as desired torso movements, upper body posture and step cycles, can be specified and used to generate stable whole-body walking trajectories online. The basic architecture consists of 4 layers… 

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