82 search results - page 3 / 17 » On the Stability of Bipedal Walking |
AUTOMATICA
2004
13 years 5 months ago
2004
The focus of this survey is the modeling and control of bipedal locomotion systems. More speci
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...
ICRA
2003
IEEE
13 years 11 months ago
2003
IEEE
- This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant veloc...
ICRA
2005
IEEE
13 years 11 months ago
2005
IEEE
— 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...
CDC
2009
IEEE
13 years 9 months ago
2009
IEEE
— In this paper, we consider an anthropomorphically-inspired hybrid model of a bipedal robot with locking knees and feet in order to develop a control law that results in human-l...