@inproceedings{ba85b76528bf4feba172d661db58cf68,
title = "Boundedness approach to gait planning for the flexible linear inverted pendulum model",
abstract = "In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration, lower computation time, exact tracking of reference Zero Moment Point (ZMP) trajectories, and the ability to come to an immediate stop.",
keywords = "Boundedness, LIPM, Preview control, Stable inversion",
author = "Leonardo Lanari and Oliver Urbann and Seth Hutchinson and Ingmar Schwarz",
note = "Funding Information: This work is partially supported by the EU H2020 RIA project Publisher Copyright: {\textcopyright} 2017, Springer International Publishing AG. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.; 20th Annual RoboCup International Symposium, 2016 ; Conference date: 30-06-2016 Through 04-07-2016",
year = "2017",
doi = "10.1007/978-3-319-68792-6_5",
language = "English (US)",
isbn = "9783319687919",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer",
pages = "58--70",
editor = "Raymond Sheh and Lee, {Daniel D.} and Sven Behnke and Sanem Sariel",
booktitle = "RoboCup 2016",
address = "Germany",
}