Online walking control system for humanoids with short cycle pattern generation

International Journal of Robotics Research

Volumn 28, Issue 6, 2009, Pages 729-742

  Nishiwaki, K ^a   Kagami, S ^a  

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

Author keywords

Bipedal walking; Humanoid robots; Preview control

Indexed keywords

BIPEDAL WALKING; CYCLE TIME; DYNAMIC BALANCE; DYNAMIC INSTABILITY; EXTERNAL FORCE; FILTER INPUT; HUMANOID ROBOTS; MOTION PATTERN; PATTERN GENERATION; PREVIEW CONTROL; SHORT CYCLE; STABLE MOTION; STABLE WALKING PATTERN; SUDDEN CHANGE; WALKING CONTROL; WALKING DIRECTION; ZERO MOMENT POINT;

CONTROL; CONTROL SYSTEM ANALYSIS; INTELLIGENT ROBOTS; LANDING;

METHOD OF MOMENTS;

EID: 65949119135     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364908097883     Document Type: Article

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