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CEI
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Research
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Robotics
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Research Areas
Walking
a suitable choice of the course of the center of gravity, the course of the ZMP can be chosen in such a way that it is always within the standing area. In this case, the course of the center of gravity [...] controller © Oliver Urbann/TU Dortmund The figure shows the specified course of the target ZMP (Yzmp), and the resulting course of the center of gravity (Ry). Measuring the ZMP is already a difficult [...] dynamic running is the use of a so-called preview controller. From the given course of the ZMP, an optimal center of gravity course can be calculated by means of the preview controller, which leads to the …