71 search results - page 3 / 15 » Modeling, stability and control of biped robots - a general ... |
ICRA
2006
IEEE
14 years 1 months ago
2006
IEEE
— We present a system of coupled nonlinear oscillators to be used as programmable central pattern generators, and apply it to control the locomotion of a humanoid robot. Central ...
IROS
2009
IEEE
14 years 2 months ago
2009
IEEE
— This paper describes 3D biped walking generation and control based on Limit Cycle Walking. In our study, we use the simplest possible 3D biped model with three DOFs, incorporat...
ICRA
2005
IEEE
14 years 1 months ago
2005
IEEE
— This paper first presents a novel control strategy for periodic motion control based on a Hamiltonian system. According to the strategy, hybrid symmetric orbits (ideal walking...
EAAI
2007
13 years 7 months ago
2007
In this work, stability control of bipedal standing is investigated. The biped is simplified as an inverted pendulum with a foot-link. The controller consists of a general regres...
SIMPAR
2010
13 years 5 months ago
2010
Stability of bipedal locomotion is analyzed using a model of a planar biped written in the framework of systems with unilateral constraints. Based on this model, two different sta...