Trajectory synthesis and physical admissibility for a biped robot during the single-support phase

@article{Shih1990TrajectorySA,
  title={Trajectory synthesis and physical admissibility for a biped robot during the single-support phase},
  author={Ching-Long Shih and Y. Z. Li and S. Churng and Tsu-Tian Lee and William A. Gruver},
  journal={Proceedings., IEEE International Conference on Robotics and Automation},
  year={1990},
  pages={1646-1652 vol.3}
}
The synthesis and verification of biped walking trajectories during the single-support phase is discussed. The biped is modeled as a seven-link twelve degree-of-freedom anthropomorphic robot. By utilizing the zero moment point (ZMP) and the equivalent force-moment, the physical admissibility of the biped walking is characterized. For physically realizable walking during the single-support phase, the trajectory of the ZMP on the ground must be inside the stable region of the supporting sole. A… CONTINUE READING

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