LOCOMOTION
Nearly passive dynamic walking of a biped robot
Nahla Khraief, N.K. M’Sirdi, Mark W. Spong
- Year
- 2003
- Citations
- 11
Abstract
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.
Keywords
TorsoBiped robotRobotComputer scienceGaitControl theory (sociology)Focus (optics)Gait cycleSimulationWork (physics)
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991
SWARM
📊 14,853 cites
A new optimizer using particle swarm theory
R.C. Eberhart, James Kennedy
2002