13 search results - page 2 / 3 » A discrete-time control strategy for dynamic walking of a pl... |
CDC
2009
IEEE
13 years 9 months ago
2009
IEEE
The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An...
HYBRID
2009
Springer
13 years 8 months ago
2009
Springer
A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
Abstract— This paper discusses the design principles and philosophy of the BiMASC, a biped with Mechanically Adjustable Series Compliance which incorporates tuned mechanical leg ...
CORR
2010
Springer
13 years 5 months ago
2010
Springer
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D bipedal robot consisting of a torso, revolute knees, ...
CDC
2008
IEEE
13 years 11 months ago
2008
IEEE
Abstract— This paper presents a within-stride feedback controller that achieves an exponentially stable, periodic, and fast walking gait for a 3D bipedal robot consisting of a to...