Employing a Novel Gait Pattern Generator on a Social Humanoid Robot
نویسندگان
چکیده
منابع مشابه
Humanoid Robot Gait Generator: Foot Steps Calculation for Trajectory Following
During bipedal gait, a robot falls from one foot to the other. This motion can be approximated with that of an inverted pendulum with discrete movements of the contact point. We detail here how to use the linear inverted pendulum model (LIPM) for selecting successive contact points in such a way that the centre of mass (COM) of the robot flexibly follows a predefined set of waypoints on a strai...
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ژورنال
عنوان ژورنال: Scientia Iranica
سال: 2019
ISSN: 2345-3605
DOI: 10.24200/sci.2019.21358