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An Adaptive LIPM-based Dynamic Walk using Model Parameter Optimization on Humanoid Robots
KI - Künstliche Intelligenz: Vol. 30, No. 0
Even with the recent advances in the area of dynamic walking on humanoid robots there is still a significant amount of manual calibration required in practice due to the variances in the hardware. That is in order to achieve the performance needed in environments such as RoboCup. We present a LIPM-based closed-loop walk, ...