A Simplified Method for Generating 3D Gait Using Optimal Sagittal Gait
A simplified method for generating three-dimensional bipedal gait is presented. The approach consists in combining a lateral sway motion of the biped with an optimal sagittal movement. A method for computing the latter was presented in an earlier paper. The lateral movement is generated on the base of a simplified kinematic model and using a stochastic search method minimizing a dynamic performance criterion. Sagittal and frontal movements are successfully associated to produce well-balanced 3D-gait.
KeywordsHumanoid Robot Pelvic Tilt Swing Phase Biped Robot Single Support Phase
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