92 search results - page 4 / 19 » A controller for dynamic walking in bipedal robots |
ICRA
2002
IEEE
13 years 10 months ago
2002
IEEE
— Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter optimization is applied to...
AAAI
2010
13 years 7 months ago
2010
We present a novel method to control a biped humanoid robot to walk on unknown inclined terrains, using an online learning algorithm to estimate in real-time the local terrain fro...
ICRA
2007
IEEE
14 years 2 days ago
2007
IEEE
— Consider a biped evolving in the sagittal plane. The unexpected rotation of the supporting foot can be avoided by controlling the zero moment point or ZMP. The objective of thi...
ICRA
2009
IEEE
14 years 12 days ago
2009
IEEE
Abstract— Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks,...
IROS
2007
IEEE
14 years 1 days ago
2007
IEEE
— This paper presents an algorithm for adapting periodic behavior to gradual shifts in task parameters. Since learning optimal control in high dimensional domains is subject to t...