110 search results - page 11 / 22 » Nonlinear Feedback Control of a Biped Walking Robot |
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...
ICRA
2005
IEEE
14 years 9 days ago
2005
IEEE
— Recently, there has been a growing interest in biologically inspired biped locomotion control with Central Pattern Generator (CPG). However, few experimental attempts on real h...
CDC
2009
IEEE
13 years 10 months ago
2009
IEEE
The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An...
ICRA
2007
IEEE
14 years 1 months ago
2007
IEEE
— Consider a biped evolving in the sagittal plane. The unexpected rotation of the supporting foot can be avoided by controlling the zero moment point or ZMP. The objective of thi...
ICRA
2005
IEEE
14 years 9 days 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...