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INSTANTANEOUS ON-LINE MODIFICATION OF BIPED WALK COMPOSED FROM RECONFIGURABLE ADAPTIVE MOTION PRIMITIVES

ABSTRACT
The paper presents development and potentials of a novel methodology for biped walk synthesis based on motion primitives (RAMPs). This approach is convenient for online modification of walk in unstructured and immediate environment of humans. The modification is specified just by changing the overall walking parameters (walking speed, direction, step length, ...) and the system automatically adapts walk realization (legs motion) to comply with new requirements. Modifications may be required anytime, even during motion realization. Simulation results illustrate proposed approach. [Projekat Ministarstva nauke Republike Srbije, br. III44008 and by Provincial secretariat for science and technological development under contract 114-451-660/2015-03]
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PAPER SUBMITTED: 2015-12-14
PAPER REVISED: 2015-12-23
PAPER ACCEPTED: 2015-12-28
PUBLISHED ONLINE: 2016-02-20
DOI REFERENCE: https://doi.org/10.2298/TSCI151214034B
CITATION EXPORT: view in browser or download as text file
THERMAL SCIENCE YEAR 2016, VOLUME 20, ISSUE Supplement 2, PAGES [S513 - S523]
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