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Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots
This paper presents a novel omnidirectional walking pattern generator for bipedal locomotion combining two structurally different approaches based on the virtual constraints and the preview control theories to generate a flexible gait that can be modified on-line. The proposed strategy synchronizes...
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| Pubblicato in: | Front Robot AI |
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| Autori principali: | , , , |
| Natura: | Artigo |
| Lingua: | Inglês |
| Pubblicazione: |
Frontiers Media S.A.
2021
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| Soggetti: | |
| Accesso online: | https://ncbi.nlm.nih.gov/pmc/articles/PMC8284058/ https://ncbi.nlm.nih.gov/pubmed/34277715 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/frobt.2021.660004 |
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