How to achieve various gait patterns from single nominal

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dc.creatorVukobratovic, Miomir
dc.creatorAndric, Dejan
dc.creatorBorovac, Branislav
dc.date2004-12-11
dc.date.accessioned2026-07-07T03:22:13Z
dc.date.available2026-07-07T03:22:13Z
dc.descriptionIn 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.
dc.identifierhttps://arxiv.org/abs/cs/0412057
dc.identifierhttp://arxiv.org/abs/cs/0412057
dc.identifierInternational Journal of Advanced Robotic Systems, Volume 1, Number 2, June 2004, pp. 99-108
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/32508
dc.subjectRobotics
dc.titleHow to achieve various gait patterns from single nominal
dc.typetext

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