Yuki Onishi

2 accepted papers

2024

Understanding How a 3-dimensional ZMP Exactly Decouples the Horizontal and Vertical Dynamics of the CoM-ZMP Model

IROS 2024poster

The CoM-ZMP model represents the dominant behaviour of bipedal locomotion with surface contact. However, once the centre of mass (CoM) position goes out of a predefined spatial plane, the horizontal dynamics of the model can couple with its vertical dynamics to be nonlinear. This study theoretically…

Cited by 0 Source ↗Scholar ↗

2021

Knee-stretched Biped Gait Generation along Spatially Quantized Curves

Yuki Onishi, Shuuji Kajita, Tatsuya Ibuki, Mitsuji Sampei

IROS 2021poster

This paper presents a method for biped gait generation along a predefined curve with fully stretched knees. First, we design a spatial gait pattern as a function of the traveled distance on the path without considering dynamics. Then, a consistent dynamic walking motion is obtained by optimization t…

Cited by 8 Source ↗Scholar ↗