Referenced Items are not available for this document.
We address the problem of stabilizing a planar biped robot on a complete walking cycle. Our approach is based on singling out the three fundamental phases of motion of a biped: single and double-support, separated (sequentially) by an impact "instantaneous" phase. We propose control laws to drive the robot for a finite time during each phase, while ensuring certain robustness vis-a-vis the impacts which are treated as external perturbations.
Published in:
Automatic Control, IEEE Transactions on
(Volume:49
,
Issue:
5
)
Date of Publication: May 2004
- Page(s):
- 838 - 843
- ISSN :
- 0018-9286
- INSPEC Accession Number:
- 7966329
- Digital Object Identifier :
- 10.1109/TAC.2004.828314
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 18 May 2004
- Issue Date :
- May 2004
- Sponsored by :
- IEEE Control Systems Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
