IEEE - Institute of Electrical and Electronics Engineers, Inc. - Biped gait synthesis based on dynamic parametrization

Proceedings of RSJ/IEEE International Conference on Intelligent Robots and Systems

Author(s): M. Kumon ; T. Nakata ; N. Adachi
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2001
Conference Location: Maui, HI, USA, USA
Conference Date: 29 October 2001
Volume: 1
Page Count: 6
ISBN (Paper): 0-7803-6612-3
DOI: 10.1109/IROS.2001.973407
Regular:

Biped locomotion has two characteristics: 1) repeating impact at the moment when the foot contacts with the terrain, 2) limitation to the torque of the ankle. The second is required in order to... View More

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