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» Generalized biped walking control

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RAS
2006

105views more RAS 2006»

Reinforcement learning for quasi-passive dynamic walking of an unstable biped robot

14 years 11 months ago

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A class of biped locomotion called Passive Dynamic Walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is s...

Kentarou Hitomi, Tomohiro Shibata, Yutaka Nakamura...

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CDC
2009
IEEE

128views Control Systems» more CDC 2009»

2D bipedal walking with knees and feet: A hybrid control approach

15 years 3 months ago

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— 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...

Ryan W. Sinnet, Aaron D. Ames

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ICRA
1998
IEEE

125views Robotics» more ICRA 1998»

Biped Robot Walking Using Gravity-Compensated Inverted Pendulum Mode and Computed Torque Control

15 years 4 months ago

Download mecha.hanyang.ac.kr

Jong H. Park, Kyong D. Kim

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