ICRA
2009
IEEE
13 years 9 months ago
2009
IEEE
This paper proposes a three-dimensional biped dynamic walking algorithm based on Passive Dynamic Autonomous Control (PDAC) which is previously proposed. The robot dynamics is model...
ICRA
2002
IEEE
14 years 4 months ago
2002
IEEE
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. T...