@inproceedings{c08dc6b832424ec9a4fc9bcdceff9118,
title = "Online mixture and connection of basic motions for humanoid walking control by footprint specification",
abstract = "This paper introduces and describes a novel method which enables the online generation of humanoid walking patterns that follow desired footprint locations. Online generation is realized by the dynamically stable mixture and connection of pre-designed motions. Characteristics of ZMP are utilized in order to maintain the overall dynamic stability of {"}mixed{"} motions. Experimen ts using an online pattern generation software system and online walking control joystik interface for the humanoid robot H6 are introduced to show the validity of the method.",
author = "K. Nishiwaki and T. Sugihara and S. Kagami and M. Inaba and H. Inoue",
year = "2001",
doi = "10.1109/ROBOT.2001.933260",
language = "English",
isbn = "0780365763",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4110--4115",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
address = "United States",
note = "2001 IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 21-05-2001 Through 26-05-2001",
}