The gait cycle has two phases: about 60-percent stance phase and about

PDF) The Rh-1 Full-Size Humanoid Robot: Control System Design and Walking Pattern Generation

The ankle joint's frontal motion (angular and velocity evolution)

PDF) The Rh-1 Full-Size Humanoid Robot: Control System Design and Walking Pattern Generation

M. ARBULU, Reseacher, PhD, Corporación Universitaria del Huila, Facultad de Ingeniería

3: The gait cycle has two phases: about 60-percent stance phase and

3: The gait cycle has two phases: about 60-percent stance phase and

PDF) The Rh-1 Full-Size Humanoid Robot: Control System Design and Walking Pattern Generation

3: The gait cycle has two phases: about 60-percent stance phase and

Block diagram of the gain-scheduling motion controller. The online part