An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits.
Nelson Rosa Jr.Bassel KatamishMaximilian RaffC. David RemyPublished in: IROS (2023)
Keyphrases
- legged robots
- walking speed
- human gait
- humanoid robot
- mechanical systems
- gait recognition
- limit cycle
- sagittal plane
- reference trajectory
- dynamic environments
- optimal solution
- optimal design
- worst case
- quadruped robot
- neural network
- disturbance rejection
- person identification
- dynamic response
- gait analysis
- robotic systems
- closed form
- mobile robot
- dynamic programming
- image sequences