Globally stable control of a dynamic bipedal walker using adaptive frequency oscillators
نویسندگان
چکیده
منابع مشابه
Globally stable control of a dynamic bipedal walker using adaptive frequency oscillators
We present a control method for a simple limit-cycle bipedal walker that uses adaptive frequency oscillators (AFO’s) to generate stable gaits. Existence of stable limit cycles is demonstrated with an inverted-pendulum model. This model predicts a proportional relationship between hip torque amplitude and stride frequency. The closed-loop walking control incorporates adaptive Fourier analysis to...
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ژورنال
عنوان ژورنال: Robotica
سال: 2014
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574713001227