TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Glaser, Stefan
A1  - Dorer, Klaus
T1  - Trunk Controlled Motion Framework
T2  - Proceedings of 8th Workshop on Humanoid Soccer Robots
N2  - In this paper we propose a motion framework forbipedal robots that decouples motion definitions from stabilizingthe robot. This simplifies motion definitions yet allows dynamicmotion adaptations. Two applications, walking and stopping onone leg, demonstrate the power of the framework. We show thatour framework is able to perform walking and stopping on one legeven under extreme conditions and improves walking benchmarkssignificantly in the RoboCup 3D soccer simulation domain.
KW  - Roboter
Y1  - 2013
UR  - https://www.humanoidsoccer.org/ws13/papers/HSR13_Glaser.pdf
U6  - https://doi.org/10.13140/2.1.1939.0726
DO  - https://doi.org/10.13140/2.1.1939.0726
SP  - 6
S1  - 6
ER  -