Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait

Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait

Abstract This paper addresses a reference gait speed generator for limit-cycle-based bipedal gait of humanoid robots in order to achieve secure and efficient acceleration and deceleration without falling down at respective gait speeds. The reference gait speed generator is hard to be developed by an...

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Bibliographic Details
Main Authors: Taisuke Kobayashi, Kosuke Sekiyama, Yasuhisa Hasegawa, Tadayoshi Aoyama, Toshio Fukuda
Format: Article
Language:English
Published: SpringerOpen 2018-08-01
Series:ROBOMECH Journal
Subjects:
3-D bipedal gait
Artificial potential field
Leader-follower control
Stochastic optimization
Online Access:http://link.springer.com/article/10.1186/s40648-018-0115-9

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http://link.springer.com/article/10.1186/s40648-018-0115-9

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