How to achieve various gait patterns from single nominal

In this paper is presented an approach to achieving on-line modification of nominal biped gait without recomputing entire dynamics when steady motion is performed. Straight, dynamically balanced walk was used as a nominal gait, and applied modifications were speed-up and slow-down walk and turning l...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2004-06, Vol.1 (2)
Main Authors: Vukobratović, Miomir, Andrić, Dejan, Borovac, Branislav
Format: Article
Language:English
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Summary:In this paper is presented an approach to achieving on-line modification of nominal biped gait without recomputing entire dynamics when steady motion is performed. Straight, dynamically balanced walk was used as a nominal gait, and applied modifications were speed-up and slow-down walk and turning left and right. It is shown that the disturbances caused by these modifications jeopardize dynamic stability, but they can be simply compensated to enable walk continuation.
ISSN:1729-8806
1729-8814
DOI:10.5772/5626