42 search results - page 5 / 9 » Stable dynamic walking of a quadruped robot |
ICRA
2002
IEEE
14 years 14 days ago
2002
IEEE
— Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter optimization is applied to...
ICRA
2003
IEEE
14 years 24 days ago
2003
IEEE
Intelligent controllers are being used with increasing effectiveness on complex systems. This work verifies the effectiveness of fuzzy control, an intelligent method, on a sing...
CDC
2010
IEEE
13 years 2 months ago
2010
IEEE
Abstract-- This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar bipe...
IROS
2008
IEEE
14 years 1 months ago
2008
IEEE
— In this paper, we present a new method that uses random search for online planning of biped walking, given a feasible footstep plan. The Linear Inverted Pendulum dynamic model ...
IROS
2008
IEEE
14 years 1 months ago
2008
IEEE
— For stable gait generation on the level floor, restoring mechanical energy lost by heel-strike collision at the ground is necessary. Parametric excitation principle is one of ...