Frequent walking pattern generation that uses estimated actual posture for robust walking control.

Koichi Nishiwaki Satoshi Kagami

Published in: Humanoids (2009)

Keyphrases

pattern generation
walking robot
biped robot
humanoid robot
control system
legged locomotion
control method
lower extremity
legged robots
disturbance rejection
human body
pattern matching
steady state
optimal control
mining frequent
biped walking