CDC
2010
IEEE
12 years 11 months ago
2010
IEEE
Abstract-- This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar bipe...
CDC
2008
IEEE
13 years 11 months ago
2008
IEEE
— A planar compass-like biped on a shallow slope is the simplest model of a passive walker. It is a two-degrees-offreedom impulsive mechanical system known to possess periodic so...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— A hybrid controller that induces stable running gaits on a monopedal robot is developed. The robot features a rigid leg with a revolute knee and a heavy torso with center of ma...