9 search results - page 1 / 2 » Synthesis of Controllers for Stylized Planar Bipedal Walking |
ICRA
2005
IEEE
13 years 10 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...
ICRA
1998
IEEE
13 years 8 months ago
1998
IEEE
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...
CDC
2009
IEEE
13 years 8 months ago
2009
IEEE
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...
CORR
2010
Springer
13 years 4 months ago
2010
Springer
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, ...
CDC
2008
IEEE
13 years 11 months ago
2008
IEEE
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...