Smooth and Energy Saving Gait Planning for Humanoid Robot Using Geodesics
A novel gait planning method using geodesics for humanoid robot is given in this paper. Both the linear inverted pendulum model and the exact Single Support Phase (SSP) are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimension linear inverted pendulum is...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2012-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.3233/ABB-2011-0031 |