LOCOMOTION
EXPERIMENTAL VALIDATION OF A CONTROL METHOD FOR UNDERACTUATED BIPEDAL WALKING ON COMPLIANT GROUND
Daojin Yao, Yao Wu, Yang Wang, Xiaohui Xiao
- 发表年份
- 2018
- 引用次数
- 2
- 访问权限
- 开放获取
摘要
This paper presents the experimental validation of an adaptive feed-forward control (AFC) method for underactuated bipedal walkingon compliant ground using UBbot, a four-link planar robot proto-type composed of two legs with knees and unactuated point feet.
关键词
UnderactuationControl theory (sociology)BipedalismComputer sciencePlanarPoint (geometry)RobotControl (management)Control engineeringEngineering
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