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

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

Human leg motion, Sagital view.

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

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

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

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

Anthropomorphic human dimensions, © Winter, D.

Stabilizer architecture. A sensorial system of the robot consisting of

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