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During locomotion, one of various important tasks, a biped robot has to perform is the identification of 3D environment. The present work addresses the problem of offline 3D reconstruction of the environment using a stereo-vision system. The developed stereo-vision system works based on the concept of an epipolar geometry. The mathematical model that interpolates 3D position of a point with the help...
Dynamically balanced staircase ascending gait generation problem of a 11-DOF biped robot has been solved utilizing an analytical approach. The swing foot and hip joint are assumed to follow cubic polynomial and straight line trajectories, respectively. The lower limbs' gaits have been generated based on the concept of inverse kinematics and the trunk motion is decided based on static balance. The...
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