Biomedical Engineering Reference
In-Depth Information
h.
The ZMP is readily implemented into the predictive dynamics formulation for
walking and provides effective balance criteria for walking.
i.
Global forces, reaction forces, joint and torque profile can be calculated from
the simulation.
References
Dasgupta, A., Nakamura, Y., 1999. Making feasible walking motion of humanoid robots
from human motion capture data. IEEE International Conference on Robotics and
Automation, Tokyo, Japan, pp. 1044
1049.
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., et al., 2003.
Biped walking pattern generation by using preview control of zero-moment point.
IEEE International Conference on Robotics
and Automation Taipei, Taiwan,
pp. 1620
1626.
Park, J., Kim, K., 1998. Biped Robot Walking Using Gravity-Compensated Inverted
Pendulum Mode and Computed Torque Control. IEEE International Conference on
Robotics and Automation, pp. 3528
3533.
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