18 search results - page 3 / 4 » Compliance Control for Biped Walking on Rough Terrain |
CDC
2010
IEEE
12 years 12 months ago
2010
IEEE
Abstract-- This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar bipe...
IROS
2007
IEEE
13 years 11 months 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...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact b...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
Abstract— In this paper, we explore the capabilities of actuated models of the compass gait walker on rough terrain. We solve for the optimal high-level feedback policy to negoti...
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 ...