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The motion control of a statically stable biped robot on an uneven floor

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2 Author(s)
Ching-Long Shih ; Dept. of Electr. Eng., Nat. Taiwan Inst. of Technol., Taipei, Taiwan ; Chien-Jung Chiou

This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:28 ,  Issue: 2 )