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Biped Walking Pattern Generator allowing Auxiliary ZMP Control.
Shuuji Kajita
Mitsuharu Morisawa
Kensuke Harada
Kenji Kaneko
Fumio Kanehiro
Kiyoshi Fujiwara
Hirohisa Hirukawa
Published in:
IROS (2006)
Keyphrases
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pattern generator
control theory
biped walking
control system
evolutionary algorithm
real time
image sequences
data streams
multi modal
robotic systems
autonomous robots
control law
adaptive control
external disturbances
stability margin