3 accepted papers
While a number of controllers exist for dynamic humanoid walking over known uneven terrain, the ability to negotiate moderate changes in ground height without environment perception is still lacking. Such capability would mitigate problems caused by inaccurate sensing and reduce online terrain-depen
This paper presents a method for the generation of dynamic walking gaits with a 3D Dual-SLIP model and its application to a simulated Hubo+ based humanoid. Previous approaches with the Dual-SLIP model have only focused on the planar case, wherein self-stable gaits can be found. When extended to 3D h…
The Dual-SLIP model has been proposed as a walking template that inherently encodes a rich set of human-like features. Previous work has used the 3D Dual-SLIP with bio-inspired leg actuation to generate a human-like dynamic walking gait over a wide range of speeds. The work presented in this paper e…