Tsinghua University Press Ltd. - Reference trajectory generation for 3-Dimensional walking of a humanoid robot

Author(s): Zhe Tang ; Zengqi Sun ; Changjiu Zhou ; Lingyun Hu
Publisher: Tsinghua University Press Ltd.
Publication Date: 1 October 2007
Volume: 12
Page(s): 577 - 584
ISSN (Electronic): 1007-0214
DOI: 10.1016/S1007-0214(07)70136-0

Humanoid walking planning is a complicated task because of the high number of degrees of freedom (DOFs) and the variable mechanical structure during walking. In this paper, a planning method for... View More