14 search results - page 1 / 3 » Parametric excitation of a biped robot as an inverted pendul... |
IROS
2008
IEEE
13 years 11 months ago
2008
IEEE
— For stable gait generation on the level floor, restoring mechanical energy lost by heel-strike collision at the ground is necessary. Parametric excitation principle is one of ...
ICRA
1998
IEEE
13 years 8 months ago
1998
IEEE
IROS
2007
IEEE
13 years 10 months ago
2007
IEEE
— Restoring mechanical energy lost by heel-strike collisions is necessary for stable gait generation. One principle to realize this is parametric excitation. Recently, Asano et a...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. T...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body duri...