— 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...
Abstract— Motivated by the goal of obtaining moreanthropomorphic walking in bipedal robots, this paper considers a hybrid model of a 3D hipped biped with feet and locking knees. ...
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...
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, ...
Christine Chevallereau, Jessy W. Grizzle, Ching-Lo...
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...
Jessy W. Grizzle, Christine Chevallereau, Ching-Lo...