@article{Szumowski_Maksymilian_Preview_2019, author={Szumowski, Maksymilian and Żórawska, Magdalena Sylwia and Zielińska, Teresa}, howpublished={online}, year={2019}, abstract={
This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.
}, title={Preview Control applied for humanoid robot motion generation}, type={Article}, volume={vol. 29}, number={No 1}, journal={Archives of Control Sciences}, pages={111-132}, publisher={Committee of Automatic Control and Robotics PAS}, doi={10.24425/acs.2019.127526}, keywords={motion generation, humanoid robot, Preview Control, Extended Cart-Table model, off-line method}, }