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» Compliance Control for Biped Walking on Rough Terrain
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ROBOCUP
2007
Springer
135views Robotics» more  ROBOCUP 2007»
10 years 6 months ago
Compliance Control for Biped Walking on Rough Terrain
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the ...
Masaki Ogino, Hiroyuki Toyama, Sawa Fuke, Norbert ...
IROS
2007
IEEE
151views Robotics» more  IROS 2007»
10 years 6 months ago
Stabilizing biped walking on rough terrain based on the compliance control
— In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use ...
Masaki Ogino, Hiroyuki Toyama, Minoru Asada
IJRR
2011
123views more  IJRR 2011»
9 years 6 months ago
Stable dynamic walking over uneven terrain
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...
Ian R. Manchester, Uwe Mettin, Fumiya Iida, Russ T...
IROS
2009
IEEE
187views Robotics» more  IROS 2009»
10 years 6 months ago
Compliant quadruped locomotion over rough terrain
— Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold se...
Jonas Buchli, Mrinal Kalakrishnan, Michael Mistry,...
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