4 research outputs found
How to achieve various gait patterns from single nominal
Full text linkIn this paper is presented an approach to achieving on-line modification of
nominal biped gait without recomputing entire dynamics when steady motion is
performed. Straight, dynamically balanced walk was used as a nominal gait, and
applied modifications were speed-up and slow-down walk and turning left and
right. It is shown that the disturbances caused by these modifications
jeopardize dynamic stability, but they can be simply compensated to enable walk
continuation
Humanoid Robot Motion in Unstructured Environment - Generation of Various Gait Patterns from a Single Nominal
Get PDFHow to achieve various gait patterns from single nominal
No full textIn this paper is presented an approach to achieving on-line modification of nominal biped gait without recomputing entire dynamics when steady motion is performed. Straight, dynamically balanced walk was used as a nominal gait, and applied modifications were speed-up and slow-down walk and turning left and right. It is shown that the disturbances caused by these modifications jeopardize dynamic stability, but they can be simply compensated to enable walk continuation
