Abstract— In this paper, two problems related to the simulation of virtual environments for haptic systems are considered. The first problem is how to simulate, in discrete time...
Several french laboratories, joint in the CNRS Project "Control of Legged Robots", have defined a biped robot intented to experiment walking and running gaits. This bipe...
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...
Ian R. Manchester, Uwe Mettin, Fumiya Iida, Russ T...
A dynamic simulation package has been developed which can accurately model the interactions between robots and their environment. It creates a virtual environment in which various...
Abstract— We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passi...