How to achieve various gait patterns from single nominal
<|reference_start|>How to achieve various gait patterns from single nominal: In this paper is presented an approach to achieving on-line modification of nominal biped gait without recomputing entire dynamics when steady motion is performed. Straight, dynamically balanced walk was used as a nominal gait, and applied modifications were speed-up and slow-down walk and turning left and right. It is shown that the disturbances caused by these modifications jeopardize dynamic stability, but they can be simply compensated to enable walk continuation.<|reference_end|>
@article{vukobratovic2004how,
    title={How to achieve various gait patterns from single nominal},
    author={Miomir Vukobratovic, Dejan Andric & Branislav Borovac},
    journal={International Journal of Advanced Robotic Systems, Volume 1,
  Number 2, June 2004, pp. 99-108},
    year={2004},
    archivePrefix={arXiv},
    eprint={cs/0412057},
    primaryClass={cs.RO}
}