Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP

By K. Nishiwaki, S. Kagami, Yasuo Kuniyoshi, Masayuki Inaba, Hirochika Inoue. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002

296 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

Centroidal dynamics of a humanoid robot (2013, background): “However, it was much later before its importance for balance maintenance for humans and humanoid robots started to be seriously explored (Nishiwaki et al. 2002; Goswami and Kallem 2004; Naksuk et al. 2004, 2005; Komura et al. 2005; Abdallah and Goswami 2005; Popovic et al. 2004, 2005).”
Footstep Planning for the Honda ASIMO Humanoid (2005, background): “Recently, techniques have been developed to generate stable walking trajectories online [11], [12], though these results do not account for obstacles.”
Models, feedback control, and open problems of 3D bipedal robotic walking (2014, methodology): “Gait generation using ZMP has taken many forms: [103] used analytical solutions to the ZMP dynamics; [127] used the optimal gradient method; [83] examined potential energy conserving orbits; [106] computed ZMP-consistent trajectories o ine and stabilized them using trunk motion; and [129] generated ”
Real time motion generation and control for biped robot -1st report: Walking gait pattern generation- (2009, methodology): “Previous approaches to set the upper body trajectory at the end of the gait to come to rest or to certain state heuristically [4][5][6][7][8][14].”
Development of a new humanoid robot WABIAN-2 (2006, background): “Many research groups have been studying biped humanoid robots in order to realize robots that can coexist with humans and perform a variety of tasks.”