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The paper presents development and potentials of a novel methodology for   biped walk synthesis based on motion primitives (RAMPs). This approach is   convenient for online modification of walk in unstructured and immediate   environment of humans. The modification is specified just by changing the   overall walking parameters (walking speed, direction, step length, ...) and   the system automatically adapts walk realization (legs motion) to comply with   new requirements. Modifications may be required anytime, even during motion   realization. Simulation results illustrate proposed approach. [Projekat   Ministarstva nauke Republike Srbije, br. III44008 and by Provincial   secretariat for science and technological development under contract   114-451-660/2015-03

Instantaneous on-line modification of biped walk composed from reconfigurable adaptive motion primitives