202 search results - page 5 / 41 » Hybrid Control for Biped Robots Using Impedance Control and ... |
JIRS
2007
13 years 7 months ago
2007
This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined floor. Many walking control techniques have been develope...
ICRA
2003
IEEE
14 years 28 days ago
2003
IEEE
— A new 3D biped prototype with small DOF, SKIPPER, was developed. As an important component of a running controller for this robot, an aerial posture controller is presented. Th...
CDC
2008
IEEE
14 years 2 months ago
2008
IEEE
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...
ICRA
2007
IEEE
14 years 1 months ago
2007
IEEE
— A new method is presented for controlling the lateral foot placement of a simple 3D compass biped model. The method is based on the fact that, in the limit cycle, the gait is t...
HYBRID
2009
Springer
13 years 11 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...