RABBIT: A testbed for advanced control theory - Control Systems Magazine, IEEE
نویسندگان
چکیده
R ABBIT is a bipedal robot specifically designed to advance the fundamental understanding of controlled legged locomotion. The motivation for studying walking robots arises from diverse sociological and commercial interests, ranging from the desire to replace humans in hazardous occupations (demining, nuclear power plant inspection, military interventions, etc.) to the restoration of motion in the disabled (dynamically controlled lower-limb prostheses, and FNS/FES), and the appeal of machines that operate in anthropomorphic or animal-like ways (well-known biped and quadruped toys). From a control design perspective, the challenges in legged robots arise from the many degrees of freedom in © M A S T E R S E R IE S & E Y E W IR E
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