English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

This article presents a novel approach for motion pattern generation for humanoid robots combining the intuitive specification via key frames and the robustness of a ZMP stability controller. Especially the execution of motions interacting with the robot’s environment tends to result in very different stability behavior depending on the exact moment, position and force of interaction, thus providing problems for the classical replay of prerecorded motions. The proposed method is applied to several test cases including the design of kicking motions for humanoid soccer robots and evaluated in real world experiments which clearly show the benefit of the approach.

Combining Key Frame Based Motion Design with Controlled Movement Execution