Learning to Step: Models of Foot Placement for Biped Locomotion

نویسنده

  • Kai Ding
چکیده

In this paper, we propose different models for estimating foot placement in biped locomotion. We use either learning approach or optimization approach to obtain such models. We evaluate these models in terms of robustness and complexity. Our results show that these models are more flexible than Inverted Pendulum Model and they provide more agility for biped locomotion under different walking speed. CR Categories: I.3.7 [Compute Graphics]: Three-Dimensional Graphics and Realism—Animation;

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تاریخ انتشار 2010