HIGHLIGHTS
SUMMARY
The authors can avoid obstacles of different sizes and shapes, precisely step to a suitable location with a variety of swing foot trajectories (Zhang et_al, 2020), and walk with a wide range of overall gait patterns (Inman et_al, 1981; Ackermann and van den Bogert, 2012; Steele et_al, 2012). To challenge flexibility, the goal is to have the model capable of walking at a large range of different gaits, re by the two gait parameters step length and cadence. A large body of research has shown that stable locomotion patterns are generated solely by spinal . . .
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