24 search results - page 3 / 5 » Gyro stabilized biped walking |
SIMPAR
2010
13 years 4 months ago
2010
Stability of bipedal locomotion is analyzed using a model of a planar biped written in the framework of systems with unilateral constraints. Based on this model, two different sta...
IJRR
2011
13 years 1 months ago
2011
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...
IROS
2009
IEEE
14 years 1 months ago
2009
IEEE
— This paper describes 3D biped walking generation and control based on Limit Cycle Walking. In our study, we use the simplest possible 3D biped model with three DOFs, incorporat...
ICRA
2005
IEEE
13 years 12 months ago
2005
IEEE
— This paper describes a generation method for spatially natural biped walking. By limiting the COG (Center of Gravity) motion space to a sculptured surface, the degree of freedo...
ICRA
2002
IEEE
13 years 11 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...