Polynomial Trajectory Algorithm for a Biped Robot

  • Erik Cuevas, ∗∗Daniel, Marte Ramı́rez-Ortegón
  • Published 2010


Building trajectories for biped robot walking is a complex task considering all degrees of freedom (DOFs) commonly bound within the mechanical structure. A typical problem for such robots is the instability produced by violent transitions between walking phases in particular when a swinging leg impacts the surface. Although extensive research on novel… (More)


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