Biped gait generation based on parametric excitation by knee-joint actuation.

Yuji Harata Fumihiko Asano Zhi Wei Luo Kouichi Taji Yoji Uno

Published in: Robotica (2009)

Keyphrases

biped robot
joint angles
degrees of freedom
computer assisted
biologically inspired
motion capture
total knee replacement
biped walking
limit cycle
control strategy
inverse kinematics
human gait
mechanical design
joint space
control algorithm
human body
adaptive control
robot arm
gait recognition
humanoid robot