18 search results - page 1 / 4 » Stable dynamic walking over uneven terrain |
IJRR
2011
13 years 5 months ago
2011
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...
AAAI
2010
14 years 9 days ago
2010
We present a novel method to control a biped humanoid robot to walk on unknown inclined terrains, using an online learning algorithm to estimate in real-time the local terrain fro...
JIRS
2007
13 years 10 months ago
2007
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...
IROS
2009
IEEE
14 years 5 months ago
2009
IEEE
— Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold se...
ICRA
2007
IEEE
14 years 5 months ago
2007
IEEE
— We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific contr...