Biped gait generation based on parametric excitation by knee-joint actuation.
Yuji HarataFumihiko AsanoZhi Wei LuoKouichi TajiYoji UnoPublished in: IROS (2007)
Keyphrases
- biped robot
- joint angles
- degrees of freedom
- computer assisted
- control strategy
- limit cycle
- human body
- mathematical model
- biologically inspired
- inverted pendulum
- control parameters
- joint space
- inverse kinematics
- control algorithm
- generation process
- gait recognition
- pose estimation
- parametric models
- fuzzy systems
- human gait recognition
- total knee replacement