30 search results - page 2 / 6 » Intuitive Control of a Planar Bipedal Walking Robot |
ICRA
2007
IEEE
13 years 11 months 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...
IROS
2009
IEEE
13 years 12 months ago
2009
IEEE
Abstract— This paper presents an approach for the closedloop control of actuated biped that allows natural looking and energy efficient walking. Rather than prescribe kinematic ...
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...
CSREAESA
2006
13 years 6 months ago
2006
In this project, an in-house built bipedal walking Robot uses two direct current gear motors to power its legs. Each leg could bend at the knee to assist the walking routines. In ...
ICRA
2009
IEEE
13 years 3 months ago
2009
IEEE
This paper proposes a three-dimensional biped dynamic walking algorithm based on Passive Dynamic Autonomous Control (PDAC) which is previously proposed. The robot dynamics is model...