Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
نویسنده
چکیده
the Control of Bipedal Walking Robots by Jerry E. Pratt M.Eng, Massachusetts Institute of Technology (1995) B.S., Massachusetts Institute of Technology (1994) Submitted to the Department of Electrical Engineering and Computer Science in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY June 2000 c © Massachusetts Institute of Technology 2000. All rights reserved.
منابع مشابه
Control of Bipedal Walking Exploiting Postural Reflexes and Passive Dynamics
Compared to human locomotion capabilities, today’s bipedal robots are still lacking in efficiency, velocity, and robustness. Thus, a control concept for dynamic walking based on insights into human motion control is suggested. Key features include the exploitation of passive dynamics, no usage of a full dynamic model, and hierarchical, distributed control. Walking robustness in presence of unkn...
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