Faster and smoother walking of humanoid HRP-2 with passive toe joints

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 4909-4914

  Sellaouti, Ramzi ^a   Stasse, Olivier ^a   Kajita, Shuuji ^a   Yokoi, Kazuhito ^a   Kheddar, Abderrahmane ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

Passive toe joint; Pattern generation; Under actuated phase; Walking speed; ZMP trajectory

Indexed keywords

BIPED LOCOMOTION; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); MOTION PLANNING;

PASSIVE TOE JOINT; PATTERN GENERATION; UNDER-ACTUATED PHASE; WALKING SPEED; ZMP TRAJECTORY;

MOBILE ROBOTS;

EID: 34250688792     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282449     Document Type: Conference Paper

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