Walking pattern generation with non-constant body height biped walking robot

@article{Luo2013WalkingPG,
  title={Walking pattern generation with non-constant body height biped walking robot},
  author={Ren C. Luo and Hong-Hao Chang and Jun Sheng and Peng-Hsi Chang},
  journal={IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society},
  year={2013},
  pages={4318-4323}
}
The objective of this paper is to develop a method of walking pattern generation with non-constant body height towards quasi natural walking. Unlike the traditional LIPM or GCIPM based method, our proposed method divides the walking cycle into 3 parts, including lowering down, rising up and inverted pendulum process, all described by specific trajectory equations. After modelling the dynamics of the biped walking robot with three mass points and properly designing ZMP reference, smooth spatial… CONTINUE READING

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