The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary...
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D bipedal robot consisting of a torso, revolute knees, ...
Christine Chevallereau, Jessy W. Grizzle, Ching-Lo...
— Human walking emerges from synergy of whole body dynamics: not only legs, but also a torso, arms, and a head are compliantly connected with each other by antagonistic muscles. ...
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...
Ian R. Manchester, Uwe Mettin, Fumiya Iida, Russ T...