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...
Jessy W. Grizzle, Christine Chevallereau, Ching-Lo...
— A stable non-linear oscillator for autonomous biped stepping control is designed in a top-down manner by morphing dynamics of standing regulator. It resolves three problems whi...
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...
Abstract— This paper deals with a discret-time control approach, proposed for the control of a five-link, four-actuator planar biped walker. The approach is based on the choice ...