TY - JOUR
TI - Instantaneous on-line modification of biped walk composed from reconfigurable adaptive motion primitives
AU - Borovac Branislav A
AU - Raković Mirko
JN - Thermal Science
PY - 2016
VL - 20
IS - 12
SP - 513
EP - 523
PT - Article
AB - 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]