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Optimal Foot Trajectory Planning of Bipedal Robots Based on a Measure of Falling : Pianificazione di traiettoria del piede ottimale per robot bipedi basata sulla misura della caduta, in: International Journal of Advanced Robotic Systems
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Autor Kim, Byoung-Ho
Publicat  InTech Open Access Publisher, 2012
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Abstract This paper presents a falling‐based optimal foot
trajectory planning method (FOFTP) for the effective
walking of bipedal robots in three‐dimensional space.
Our primary concern is to determine the optimal footstep
location for the more balanced walking of bipedal robots
based on a measure of falling. A proper strategy for the
intermediate trajectory of the swing foot is also
considered. The feasibility of the FOFTP method is
verified by a typical bipedal walking simulation. We
also discuss the walking efficiency of the proposed
approach. It is finally shown that the proposed foot
trajectory planning method is applicable for the effective
walking of bipeds or humanoid robots.
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no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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Documents: International Journal of Advanced Robotic Systems
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Time of publication 2012
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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