International audienceBipedal walking is a complex phenomenon that is not fully understood. Simplified models make it easier to highlight important features. Here the variable length inverted pendulum (VLIP) model is used, which has the particularity of taking into account the vertical oscillations of the center of mass (CoM). When the desired walking gait is defined as virtual constraints i.e. as functions of a phasing variable and not on time, for the evolution of the swing foot and the vertical oscillation of the CoM, the walk will asymptotically converge to the periodic motion under disturbance with proper choice of the virtual constraints, thus a self-stabilization is obtained. It is shown that the vertical CoM oscillation, positions o...
In this paper, we propose a novel framework capable of generating various walking and running gaits ...
The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of ...
The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of ...
International audienceActual control of most humanoid robots is based on the 3D linear inverted pend...
International audience—This paper seeks insight into stabilization mechanisms for periodic walking g...
Humanoid robot, which can walk by two legs and perform skillful tasks using both arms with hands, co...
International audienceThe linear inverted pendulum model is often used to study walking gaits, but t...
The bipedal spring-loaded inverted pendulum (SLIP) model captures characteristic properties of human...
The bipedal spring-loaded inverted pendulum (SLIP) model captures characteristic properties of human...
The Spring-Loaded Inverted Pendulum (SLIP) model has been shown to exhibit many properties of human ...
[出版社版](c)2002 IEEE. Personal use of this material is permitted. However, permission to reprint/repub...
The (SLIP) model captures characteristic properties of human locomotion, and it is therefore often u...
The (SLIP) model captures characteristic properties of human locomotion, and it is therefore often u...
The bipedal spring-loaded inverted pendulum (SLIP) model captures characteristic properties of human...
International audienceWalking stability is one of the key issues for humanoid robots. A self-stabili...
In this paper, we propose a novel framework capable of generating various walking and running gaits ...
The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of ...
The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of ...
International audienceActual control of most humanoid robots is based on the 3D linear inverted pend...
International audience—This paper seeks insight into stabilization mechanisms for periodic walking g...
Humanoid robot, which can walk by two legs and perform skillful tasks using both arms with hands, co...
International audienceThe linear inverted pendulum model is often used to study walking gaits, but t...
The bipedal spring-loaded inverted pendulum (SLIP) model captures characteristic properties of human...
The bipedal spring-loaded inverted pendulum (SLIP) model captures characteristic properties of human...
The Spring-Loaded Inverted Pendulum (SLIP) model has been shown to exhibit many properties of human ...
[出版社版](c)2002 IEEE. Personal use of this material is permitted. However, permission to reprint/repub...
The (SLIP) model captures characteristic properties of human locomotion, and it is therefore often u...
The (SLIP) model captures characteristic properties of human locomotion, and it is therefore often u...
The bipedal spring-loaded inverted pendulum (SLIP) model captures characteristic properties of human...
International audienceWalking stability is one of the key issues for humanoid robots. A self-stabili...
In this paper, we propose a novel framework capable of generating various walking and running gaits ...
The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of ...
The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of ...