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• W3205983103 abstract "A novel control scheme for biped robots to manipulate the ZMP three-dimensionally apart from the actual ground profile is presented. It is shown that the linear inverted-pendulum-like dynamics with this scheme can represent a wider class of movements including variation of the body height. Moreover, this can also represent the motion in aerial phase. Based on this, the foot-guided controller proposed by the authors is enhanced to enable the robots to locomote on highly uneven terrains and also to seamlessly transition between walking and running without pre-planning the overall motion reference. The controller guarantees the capturability at landing and defines the motion by a time-variant state feedback, which is analytically derived from a model predictive optimization. It is verified through some computer simulations." @default.
• W3205983103 created "2021-10-25" @default.
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• W3205983103 date "2021-05-30" @default.
• W3205983103 modified "2023-09-30" @default.
• W3205983103 title "3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation" @default.
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• W3205983103 doi "https://doi.org/10.1109/icra48506.2021.9561503" @default.
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