Unified bipedal gait for walking and running by dynamics-based virtual holonomic constraint in PDAC.
Taisuke KobayashiYasuhisa HasegawaKosuke SekiyamaTadayoshi AoyamaToshio FukudaPublished in: ICRA (2016)
Keyphrases
- walking speed
- humanoid robot
- motion planning
- gait recognition
- biped robot
- human gait
- gait patterns
- limit cycle
- mobile robot
- human walking
- legged robots
- virtual environment
- inverted pendulum
- virtual reality
- gait analysis
- augmented reality
- multi modal
- dynamic model
- steady state
- virtual world
- physical constraints
- motion capture
- unified model
- neural network
- dynamical systems
- person identification
- human recognition
- control scheme
- human motion
- closed loop
- gait features