Bipedal robots are di cult to analyze mathematically. However, successful control strategies can be discovered using simple physical intuition and can be described in simple terms...
— We present a method for computing controllers for stable planar-biped walking gaits that follow a particular style. The desired style is specified with a kinematic target traj...
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...
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, ...
Christine Chevallereau, Jessy W. Grizzle, Ching-Lo...
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...
Jessy W. Grizzle, Christine Chevallereau, Ching-Lo...