By Topic

On the stability of biped with point foot-ground contact

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Stojic, R. ; Inst. de Recherche en Cybern., UMR, Nantes, France ; Chevallereau, C.

Exploiting recent results based on differential geometric control theory, it is shown in the paper that, by suitable choice of generalized coordinates, the biped dynamics may be represented by an almost linear model. This representation enables efficient use of the well known classical control methodology to define stable control. This approach is based on a complete 2-DOF and 3-DOF nonlinear model representation of robot dynamics over operative envelope without additional approximation. In this presentation, extensive use of mathematical terminology is avoided and physical interpretations of variables is proposed

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference:

2000