Toru Takenaka

Simultaneous Optimization of ZMP and Footsteps Based on the Analytical Solution of Divergent Component of Motion

Real-time planning of footsteps has been a big challenge for bipedal research. A large number of methods have been proposed over the last several years. In addition, divergent component of motion (DCM) of linear inverted pendulum (LIP) has been applied to solve this problem thus attracting a great d…