9 search results - page 2 / 2 » Synthesis of Controllers for Stylized Planar Bipedal Walking |
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...
HYBRID
2009
Springer
13 years 8 months ago
2009
Springer
A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the...
ICRA
2002
IEEE
13 years 9 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...
TOG
2008
13 years 4 months ago
2008
Simulated characters in simulated worlds require simulated skills. We develop control strategies that enable physically-simulated characters to dynamically navigate environments w...