Dynamic walk control of a biped robot along the potential energy conserving orbit
نویسندگان
چکیده
AUSTRACT: T o reduce the roinplex walking dynamics of a biped, we note a particular class of trajectories that is derived by application of gravity compensation to an ideal biped model. The trajectories have following properties: (a) the center of gravity of the body moves horizontally, and (b) the horizontal motion of the center of gravity can be expressed by a simple linear differential equation.
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