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