92 search results - page 5 / 19 » A controller for dynamic walking in bipedal robots |
IJRR
2006
13 years 7 months ago
2006
This paper reports how and to what extent the mass distribution of a passive dynamic walker can be tuned to maximize walking speed and stability. An exploration of the complete pa...
ICRA
1998
IEEE
13 years 11 months ago
1998
IEEE
This paper addresses some performance limits of the kneed and non-kneed passive-dynamic walking machines discovered by McGeer [10, 11]. Energetic inefficiency is measured by the s...
IROS
2008
IEEE
14 years 1 months ago
2008
IEEE
— It is expected that variation of leg compliance, that is determined not only by joint compliance but by joint angle, contributes to provide multi-modal locomotion such as walki...
HYBRID
2009
Springer
13 years 10 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...