Torso height optimization for bipedal locomotion

Bipedal robots can be better alternatives to other robots in certain applications, but their full potential can only be used if their entire kinematic range is cleverly exploited. Generating motions that are not only dynamically feasible but also take into account the kinematic limits as well as col...

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Bibliographic Details
Main Authors: Arne-Christoph Hildebrandt, Konstantin Ritt, Daniel Wahrmann, Robert Wittmann, Felix Sygulla, Philipp Seiwald, Daniel Rixen, Thomas Buschmann
Format: Article
Language:English
Published: SAGE Publishing 2018-10-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881418804442