Hardware design of high performance miniature anthropomorphic robots
Robotics and Autonomous Systems
Self-consistent automatic navigation of COM and feet for realtime humanoid robot steering
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fuzzy SVM learning control system considering time properties of biped walking samples
Engineering Applications of Artificial Intelligence
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A completely stepwise online pedipulation planning method is proposed. It is an analytical approach based on the general solution of the equation of motion of an approximate dynamical biped model whose mass is concentrated at the center of mass. A physically feasible referential trajectory with a constraint about the reaction force taken into account is planned only in one interval by relaxing the boundary condition, namely, by admitting a certain level of error between the desired and actually reached states, and discontinuity of zero-moment point at each end of the interval. It potentially creates responsivemotions that require strong instantaneous acceleration. A semiautomatic continual pedipulation planning method is also presented. It generates a referential trajectory of the whole body only from the next desired foot placement. The validity of the proposed method is ensured through experiments with a small anthropomorphic robot.