Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking
This paper proposes an analysis of the effect of vertical position of the pivot point of the inverted pendulum during humanoid walking. We introduce a new feature of the inverted pendulum by taking a pivot point under the ground level allowing a natural trajectory for the center of pressure (CoP), l...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Polish Academy of Sciences
2016-06-01
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| Series: | Archive of Mechanical Engineering |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/meceng.2016.63.issue-2/meceng-2016-0014/meceng-2016-0014.xml?format=INT |