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• W2765656811 abstract "In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration, lower computation time, exact tracking of reference Zero Moment Point (ZMP) trajectories, and the ability to come to an immediate stop." @default.
• W2765656811 created "2017-11-10" @default.
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• W2765656811 date "2017-01-01" @default.
• W2765656811 modified "2023-09-27" @default.
• W2765656811 title "Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model" @default.
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• W2765656811 doi "https://doi.org/10.1007/978-3-319-68792-6_5" @default.
• W2765656811 hasPublicationYear "2017" @default.
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