3 accepted papers
This paper addresses an omnidirectional locomotion control to make a biped robot walk back and forth, turn to any direction, move sideways and carry out them seamlessly. This is achieved by integrating smooth-path-tracking and lateral walking controllers that have been proposed by the authors, which…
This paper extends the longitudinal walking controller of biped robots proposed by one of the authors to walking along a smooth curved path. The previous controller defined in a fixed inertial frame is redesigned with respect to a moving frame attached to the center of mass (COM) of the robot in ord…
This paper presents a repetitive hopping control of biped robots, which has the following properties: 1) It can initiate or cease hopping at any time, 2) The peak altitude can be freely altered during hopping, and 3) The impact at touchdown is suppressed. Hopping motions accompany frequent changes o…