Biped walking with stretched knee based on inverse kinematics via virtual prismatic joint and l∞ preview control

In this paper, we propose novel inverse kinematics via virtual prismatic joints in order to achieve biped walking with one stretched knee. We aim for the realization of smooth biped walking with one stretched knee by using the inverse kinematics via virtual prismatic joints and l∞ preview control. By simulation, we show the effectiveness of our proposed method.

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