202 search results - page 4 / 41 » Hybrid Control for Biped Robots Using Impedance Control and ... |
CDC
2009
IEEE
13 years 11 months ago
2009
IEEE
— 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...
ICRA
2002
IEEE
14 years 18 days ago
2002
IEEE
Abstract A master-slave type remote ultrasound diagnostic system was developed. This paper presents its controller. The controller has impedance control capability for the master a...
ICRA
2005
IEEE
14 years 1 months ago
2005
IEEE
— This paper proposes a learning framework for a CPG-based biped locomotion controller using a policy gradient method. Our goal in this study is to develop an efficient learning...
ICRA
2003
IEEE
14 years 28 days ago
2003
IEEE
We introduce a new method of a biped walking pattern generation by using a preview control of the zeromoment point (ZMP). First, the dynamics of a biped robot is modeled as a runn...
ICRA
2002
IEEE
14 years 17 days 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...