How to achieve various gait patterns from single nominal

Miomir Vukobratovic; Dejan Andric; Branislav Borovac

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How to achieve various gait patterns from single nominal

Miomir Vukobratovic·Dejan Andric·Branislav Borovac

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Abstract

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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Miomir Vukobratovic, Dejan Andric, Branislav Borovac. 2004-12-11. How to achieve various gait patterns from single nominal. https://arxiv.org/abs/cs/0412057

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