Generating effective whole-body motions of a human-like mechanism with efficient ZMP formulation

International Journal of Robotics and Automation

Volumn 24, Issue 2, 2009, Pages 125-136

  Kim, J H ^a   Xiang, Y ^a   Bhatt, R M ^a   Yang, J ^b   Chung, H J ^a   Arora, J S ^a   Abdel Malek, K ^a  

^a IA United States   (United States)

^b Department of Electrical and Computer Engineering   (United States)

Author keywords

Biped; Dynamics; Motion generation; Optimization; Zero moment point

Indexed keywords

APPLIED LOADS; DYNAMIC BALANCE; EFFICIENT FORMULATION; EXTERNAL LOADS; GROUND REACTIONS; HUMAN-LIKE MOTION; MOTION GENERATION; OPTIMALITY; OPTIMIZATION PROBLEMS; STANDING POSTURE; WHOLE-BODY MOTION; ZERO MOMENT POINT;

OPTIMIZATION;

DYNAMICS;

EID: 77950835705     PISSN: 08268185     EISSN: None     Source Type: Journal    
DOI: 10.2316/Journal.206.2009.2.206-3235     Document Type: Article

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