Abstract
The method of two-legged gait synthesis for the biped robot is introduced. The problem of dynamic postural equilibration taking into account the role of compliant feet is formulated. The equilibrium conditions are split to feet attachment points and points within the feet-end area. The presented method is important for dynamical motion synthesis taking into account the robot parameters. The method was validated using simulations and experiments.
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Zielińska, T. (2012). Postural Equilibrium in Two-Legged Locomotion. In: Kozłowski, K. (eds) Robot Motion and Control 2011. Lecture Notes in Control and Information Sciences, vol 422. Springer, London. https://doi.org/10.1007/978-1-4471-2343-9_12
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DOI: https://doi.org/10.1007/978-1-4471-2343-9_12
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Publisher Name: Springer, London
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Online ISBN: 978-1-4471-2343-9
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