How to achieve various gait patterns from single nominal
In 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 l...
Main Authors: | Miomir Vukobratovic, Dejan Andric, Branislav Borovac |
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Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2008-11-01
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Series: | International Journal of Advanced Robotic Systems |
Subjects: | |
Online Access: | http://www.intechopen.com/articles/show/title/how_to_achieve_various_gait_patterns_from_single_nominal |
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