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...

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Bibliographic Details
Main Authors: Miomir Vukobratović, Dejan Andrić, Branislav Borovac
Format: Article
Language:English
Published: SAGE Publishing 2004-06-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/5626