Knee-stretched Biped Gait Generation along Spatially Quantized Curves
Yuki Onishi,Shuuji Kajita,Tatsuya Ibuki,Mitsuji Sampei,Yuki Onishi,Shuuji Kajita,Tatsuya Ibuki,Mitsuji Sampei
This paper presents a method for biped gait generation along a predefined curve with fully stretched knees. First, we design a spatial gait pattern as a function of the traveled distance on the path without considering dynamics. Then, a consistent dynamic walking motion is obtained by optimization that minimizes the zero-moment point and the speed errors while considering the trade-off between kin...
