TY - JOUR N2 - This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance. L1 - http://journals.pan.pl/Content/111271/PDF/07_art_ACS-2019-1_INTERNET.pdf L2 - http://journals.pan.pl/Content/111271 PY - 2019 IS - No 1 EP - 132 DO - 10.24425/acs.2019.127526 KW - motion generation KW - humanoid robot KW - Preview Control KW - Extended Cart-Table model KW - off-line method A1 - Szumowski, Maksymilian A1 - Żórawska, Magdalena Sylwia A1 - Zielińska, Teresa PB - Committee of Automatic Control and Robotics PAS VL - vol. 29 DA - 2019.03.28 T1 - Preview Control applied for humanoid robot motion generation SP - 111 UR - http://journals.pan.pl/dlibra/publication/edition/111271 T2 - Archives of Control Sciences ER -