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- W2120526103 abstract "This paper introduces and describes a novel method which enables the online generation of humanoid walking patterns that follow desired footprint locations. Online generation is realized by the dynamically stable mixture and connection of pre-designed motions. Characteristics of zero moment point (ZMP) are utilized in order to maintain the overall dynamic stability of mixed motions. Experiments using an online pattern generation software system and online walking control joystick interface for the humanoid robot H6 are introduced to show the validity of the method." @default.
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- W2120526103 date "2002-11-13" @default.
- W2120526103 modified "2023-10-03" @default.
- W2120526103 title "Online mixture and connection of basic motions for humanoid walking control by footprint specification" @default.
- W2120526103 cites W2145944877 @default.
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- W2120526103 doi "https://doi.org/10.1109/robot.2001.933260" @default.
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