Curved Path Walking
作者： Norman I. Badler , Hyeongseok Ko
DOI:
关键词: Trajectory 、 Swing 、 Center (algebra and category theory) 、 Sagittal plane 、 Simulation 、 Position (vector) 、 Midpoint 、 Path (graph theory) 、 Engineering 、 Orientation (geometry)
摘要: Research on biped locomotion has focused sagittal plane walking in which the stepping path is a straight line. Because often curved three dimensional environment, 3D subsystem required to provide general animation. In building subsystem, we tried utilize pre-existing (2D) systems. The movement of center body important determining amount banking and turning. site defined be midpoint between two hip joints. An algorithm obtain trajectory that realizes given presented. From position orientation site, compute stance swing leg configurations as well upper configuration, based underlying 2D system.
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