2014
DOI: 10.1109/tro.2014.2344431
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Realization of Biped Walking in Unstructured Environment Using Motion Primitives

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Cited by 19 publications
(13 citation statements)
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“…In paper [5] the developed RAMP-based controller was presented in details. It allows humanoid robot to synthesize and adapt its walking behaviour on-line with respect to the current state of the environment.…”
Section: The Ramp-based Framework For Cooperative Transportationmentioning
confidence: 99%
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“…In paper [5] the developed RAMP-based controller was presented in details. It allows humanoid robot to synthesize and adapt its walking behaviour on-line with respect to the current state of the environment.…”
Section: The Ramp-based Framework For Cooperative Transportationmentioning
confidence: 99%
“…Joint motion control module consists of two different non-linear controllers. In our previous work sliding mode controller with disturbance estimator was used for realization of reference motion, calculated in the dynamic balance controller [5]. In this paper this control is used for lower limbs and robot trunk, but it is extended with a compliant controller for robot arms, necessary for co-operative manipulation task.…”
Section: The Ramp-based Framework For Cooperative Transportationmentioning
confidence: 99%
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“…Traditionally, an accurate dynamic model of the considered robot should be built in order to implement the desired high-quality control [5,6]. The dynamic model of humanoid robots is a set of strong coupling nonlinear ordinary differential equations about the joint variables.…”
Section: Introductionmentioning
confidence: 99%