How to achieve various gait patterns from single nominal

Details How to achieve various gait patterns from single nominal How to achieve various gait patterns from single nominal

2004-12-11

arxiv.org/abs/cs/0412057v1

International Journal of Advanced Robotic Systems, Volume 1, Number 2, June 2004, pp. 99-108

Computer Science

Robotics

Scientific paper

In this paper is presented an approach to achieving on-line modification of nominal biped gait without recomputing entire dynamics when steady motion is performed. Straight, dynamically balanced walk was used as a nominal gait, and applied modifications were speed-up and slow-down walk and turning left and right. It is shown that the disturbances caused by these modifications jeopardize dynamic stability, but they can be simply compensated to enable walk continuation.

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