Dynamically stable gait planning for a humanoid robot to climb sloping surface

2004 IEEE Conference on Robotics, Automation and Mechatronics

Volumn , Issue , 2004, Pages 341-346

  Zhou, Changjiu ^a   Yue, Pik Kong ^a   Ni, Jun ^a,b   Chan, Shan Ben ^b  

^a SINGAPORE POLYTECHNIC   (Singapore)

^b SHANGHAI JIAO TONG UNIVERSITY   (China)

Author keywords

Biped gait; Climbing slope; Dynamic walk; Humanoid robots; Stability of walking; Zero Moment Point

Indexed keywords

BIPED GAIT; CLIMBING SLOPE; DYNAMIC WALK; HUMANOID ROBOTS; STABILITY OF WALKING; ZERO MOMENT POINT; CLIMBING SLOPES; ZERO MOMENT POINTS (ZMP);

BOUNDARY CONDITIONS; DATA REDUCTION; DEGREES OF FREEDOM (MECHANICS); DIFFERENCE EQUATIONS; GAIT ANALYSIS; MANIPULATORS; OPTIMIZATION; PROBLEM SOLVING; ROBOTICS; COMPUTER SIMULATION; GENETIC ALGORITHMS; MATHEMATICAL MODELS; MOBILE ROBOTS; NUMERICAL METHODS; POLYNOMIAL APPROXIMATION;

MOBILE ROBOTS; MOTION PLANNING;

EID: 11244345400     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

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