Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot
نویسندگان
چکیده
منابع مشابه
Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot
Provably asymptotically stable running gaits are developed for the five-link, four-actuator bipedal robot, RABBIT. A controller is designed so that the Poincaré return map associated with periodic running gaits can be computed on the basis of a model with impulse effects that, previously, had been used only for the design of walking gaits. This feedback design leads to the notion of a hybrid ze...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2005
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364905054929