Extended virtual passive dynamic walking and virtual passivity-mimicking control laws

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 3139-3144

  Asano, F ^a   Hashimoto, M ^a   Kamamichi, N ^a   Yamakita, M ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

VIRTUAL PASSIVE DYNAMIC WALKING;

COMPUTER SIMULATION; GRAVITATION; MATRIX ALGEBRA; TORQUE;

ROBOTS;

EID: 0034868953     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2001.933100     Document Type: Conference Paper

References (9)

1. Compass-like biped robot Part I: Stability and bifurcation of passive gaits
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3. Passive dynamic walking
4. Virtual passive dynamic walking and energy-based control laws
5. Passive velocity field control of biped walking robot
6. The simplest walking model: Stability, complexity, and scaling
7. Simple controllable walking mechanisms which exhibit bifurcations
8. Passivity based control of the compass gait biped
9. MaTX/RtMaTX: A freeware for integrated CACSD