3.8 Proceedings Paper

Biped Gait Control based on Spatially Quantized Dynamics

Publisher

IEEE

Keywords

-

Categories

Ask authors/readers for more resources

We have realized a biped walking control based on the spatially quantized dynamics (SQD) which discretizes a continuous system by a constant unit length along the walk direction. By using SQD, a prescribed sagittal kinematic pattern can be transformed into dynamically consistent robot motion in real-time. The lateral motion is generated by preview control which uses future ZMP predicted by SQD at every control cycle. A successful biped walk of HRP-2Kai with fully stretched knees and long stride was realized by the proposed method.

Authors

I am an author on this paper
Click your name to claim this paper and add it to your profile.

Reviews

Primary Rating

3.8
Not enough ratings

Secondary Ratings

Novelty
-
Significance
-
Scientific rigor
-
Rate this paper

Recommended

No Data Available
No Data Available