Majid Khadiv
Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran.
[ 1 ] - A Low Friction Demanding Approach in Gait Planning for Humanoid Robots During 3D Manoeuvres
This paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. To this end, a humanoid robot with 18 DOF is considered to develop a dynamics model for studying various 3D manoeuvres. Then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. In order to generate feasible w...
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