Planning walking patterns for a biped robot

By Qiang Huang, K. Yokoi, Shuuji Kajita, K. Kaneko, H. Arai, N. Koyachi, K. Tanie. IEEE Trans. Robotics Autom., 2001

928 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.

Dynamic Balance Force Control for compliant humanoid robots (2010, background): “Given a robot with stiff joint position control and a known environment, the most common approach to balance is to generate a stable trajectory of the COM and then track it using inverse kinematics (IK) [3] [4].”
Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction (2005, background): “to better adapt legged robots to various, and unknown conditions of the terrain [10], [11]).”
Biped walking pattern generation by using preview control of zero-moment point (2003, background): “Let us call this group as the ZMP based approach since they often use the zero-moment point (ZMP) for pattern generation and walking control.”
Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations (2007, methodology): “Hip trajectory interpolation for the level ground [19] and declined surfaces As can be seen in Fig.”