Boundary condition relaxation method for stepwise pedipulation planning of biped robots

IEEE Transactions on Robotics

Volumn 25, Issue 3, 2009, Pages 658-669

  Sugihara, Tomomichi ^a   Nakamura, Yoshihiko ^b  

^a KYUSHU UNIVERSITY   (Japan)

^b UNIVERSITY OF TOKYO   (Japan)

Author keywords

Biped robot; Legged motion; Online motion planning

Indexed keywords

ANALYTICAL APPROACH; BIPED ROBOT; EQUATION OF MOTION; FOOT PLACEMENTS; GENERAL SOLUTIONS; LEGGED MOTION; ONLINE MOTION PLANNING; PLANNING METHOD; REACTION FORCES; RELAXATION METHODS; WHOLE BODY; ZERO MOMENT POINT;

BOUNDARY CONDITIONS; MOTION PLANNING; NAVIGATION; PROGRAMMABLE ROBOTS;

EQUATIONS OF MOTION;

EID: 67649264900     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2012336     Document Type: Article

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