Leg joint synergy emerged from the body dynamics during walking.
Seiji ToyotaShoko KaichidaYoshimitsu HashizumeJun NishiiPublished in: SMC (2012)
Keyphrases
- joint angles
- walking robot
- biped robot
- human body
- humanoid robot
- degrees of freedom
- gait patterns
- inverse kinematics
- motion capture
- limit cycle
- dynamical systems
- central pattern generator
- biologically inspired
- walking speed
- disturbance rejection
- human gait
- human motion
- dynamic model
- human walking
- case study
- body parts
- legged locomotion
- genetic algorithm
- real time
- recurrent networks
- control strategy
- upper body
- pose estimation
- computer vision
- physiological parameters