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NTIS 바로가기한국정밀공학회지 = Journal of the Korean Society for Precision Engineering, v.21 no.7 = no.160, 2004년, pp.115 - 123
공정식 (인하대학교 자동화공학과) , 노경곤 (인하대학교 자동화공학) , 김진걸 (인하대학교 전자전기공학부)
This paper deals with the gait optimization of via points on biped robot. ZMP(Zero Moment point) is the most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, leg's trajectory and a desired ZMP trajectory is required, balancing motion is solved by FDM(...
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Kim, Jin G., Noh, Kyung-gon and Park, Kiheon, 'Human-Like Dynamic Walking for a Biped Robot Using Genetic Algorithm,' Springer, LNCS 2210, pp.159-170, 2001
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