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What is Biped Robot Running Gait Optimization about?

This paper presents methods for real-time motion generation and control of biped robots, specifically focusing on running gait pattern generation. The authors propose a decomposition of running motion into vertical, horizontal, and rotational components to ensure stability and adherence to ground reaction force limits. The techniques allow for running at speeds of 10 km/h on a robot with dimensions similar to ASIMO, addressing challenges associated with ground reaction force during flight and support phases

Author

Jameszouqun

Language

EN