71 search results - page 6 / 15 » Modeling, stability and control of biped robots - a general ... |
ICRA
2010
IEEE
13 years 5 months ago
2010
IEEE
This paper introduces a framework that guides the design of stabilizing feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional vector fields, the...
ICRA
2009
IEEE
14 years 2 months ago
2009
IEEE
— Humans and animals adapt their leg impedance during running for both internal(e.g. loading) and external(e.g. surface) changes. In this paper we examine the relationship betwee...
ICRA
2008
IEEE
14 years 1 months ago
2008
IEEE
— We present results of successful telemanipulation of large, heavy objects by a humanoid robot. Using a single joystick the operator controls walking and whole body manipulation...
ICRA
2007
IEEE
14 years 1 months ago
2007
IEEE
Abstract— A number of conceptually simple but behaviorrich “inverted pendulum” humanoid models have greatly enhanced the understanding and analytical insight of humanoid dyna...
SCL
2008
13 years 7 months ago
2008
In this paper we consider discrete-time nonlinear systems that are affected, possibly simultaneously, by parametric uncertainties and disturbance inputs. The min-max Model Predict...