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Advanced Walking Skills for Bipedal Locomotion
192 Seiten, Dissertation Technische Universität Kaiserslautern (2016), Softcover, A5
Most control algorithms for current bipedal robots relied on the stability analysis of Zero-Moment Point, which was firstly introduced by Vukobratovic in 1968.
However, control approaches based on \zmp have yet common shortcomings, such as, unnatural motions, high energy costs, high computational burden, absence of natural dynamics.
Due to their disadvantages, many researchers studied the biological and biomechanical aspects of human locomotion, from which valuable findings can be transferred to the design of control approaches for bipedal walking robots.
Among them, a Bio-Inspired Behavior-Based Bipedal Locomotion Control (B4LC) was developed by Luksch based on the concepts found in human motion control with the hypothesis that a control system similar to human one will enable a robot to perform locomotion in a likewise fashion.