7. Simplified models for step generation
7.1 Linear Inverted Pendulum (LIP ) model
Most recent humanoid robots have foot surfaces that are too small in relation to the height of their CoM to allow a statically stable walking gait. They are very unstable. Kajita et al. have deduced the approximation of humanoid robot motion by that of the inverted...
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Simplified models for step generation
Simplified models for step generation
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