D. Galdeano, A. Chemori, S. Krut and P. Fraisse
Optimal Pattern Generator for Dynamic Walking in humanoid Robotics
D. Galdeano, A. Chemori, S. Krut and P. Fraisse: LIRMM, Université Montpellier 2, LIRMM, Montpel-lier, France, emails: galdeano@lirmm.fr, chemori@lirmm.fr, krut@lirmm.fr, fraisse@lirmm.fr.
Abstract: This paper deals with an optimal Zero Moment Point (ZMP) based pattern generator for stable dynamic walking in humanoid robotics. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified model of the biped robot. The 3MLIPM considers the biped robot as a three point masses and two-link ...
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