Retracted: A Jumping Pattern Generation for the Biped Robot
نویسندگان
چکیده
منابع مشابه
Online Walking Pattern Generation for Biped Humanoid Robot with Trunk
This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP ...
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Bipedal running can easily result in a fall due to poor availability of the ground reaction force at the boundary of the flight and support phases. We propose methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied. We also extend previously proposed boundary condition, the diverge...
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Biped robots have better mobility than conventional wheeled robots. The bio-inspired method based on a central pattern generator (CPG) can be used to control biped robot walking in a manner like human beings. However, to achieve stable locomotion, it is difficult to modulate the parameters for the neural networks to coordinate every degree of freedom of the walking robot. The zero moment point ...
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ژورنال
عنوان ژورنال: Information Technology Journal
سال: 2011
ISSN: 1812-5638
DOI: 10.3923/itj.2011.1650.1661