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NTIS 바로가기제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, v.15 no.12, 2009년, pp.1216 - 1222
박일우 (광운대학교 정보제어공학과) , 백주훈 (광운대학교 정보제어공학과)
This article describes a simple method for generating the walking trajectory for the biped humanoid robot. The method used a simple inverted model instead of complex multi-mass model and a reasonable explanation for the model simplification is included. The problem of gait trajectory generation is t...
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S. Kajita, F. Kanehiro, K Kaneko, K Fujiwara, K Harada, K Yokoi, and H. Hirukawa, 'Biped walking pattern generation by using preview control of zero-moment point,' IEEE Int. Conf. on Robotics & Automation, pp. 1620-1626, Taipei, Taiwan, Sep. 2003
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