Trajectory planning and control of a novel walking biped

IEEE Conference on Control Applications - Proceedings

Volumn , Issue , 2001, Pages 1099-1104

  McGee, Timothy G ^a   Spong, Mark W ^a  

^a University of Illinois at Urbana Champaign   (United States)

Author keywords

Biped robots; Locomotion; Partial feedback linearization; Trajectory planning

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; LINEARIZATION; TRACKING (POSITION); TRAJECTORIES; VELOCITY;

PARTIAL FEEDBACK LINEARIZATION; TRAJECTORY PLANNING; WALKING BIPED;

MOBILE ROBOTS;

EID: 0035695146     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Walking viability and gait synthesis for a novel class of dynamically-simple bipeds
2. An almost linear biped
3. Nonlinear control of the inertia wheel pendulum
4. Passivity based control of the compass gait biped