Passive dynamic walking of a kneeless biped robot with torso
نویسنده
چکیده
The focus of this work is a study of the passive dynamic walking of a kneeless biped robot with torso on inclined slopes. We show that under a simple PD control applied between the torso and the stance leg the biped robot converges at a stable gait cycle. we present recent results of trajectory sensitivity analysis to effeciently determine the stability of limit cycles for the biped robot.
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