Stable walking of a 7-DOF biped robot

IEEE Transactions on Robotics and Automation

Volumn 19, Issue 4, 2003, Pages 653-668

  Plestan, Franck ^a   Grizzle, Jessy W ^b   Westervelt, Eric R ^b   Abba, Gabriel ^c  

^a ECOLE CENTRALE DE NANTES   (France)

^b UNIVERSITY OF MICHIGAN   (United States)

^c UNIVERSITÉ DE LORRAINE   (France)

Author keywords

Biped robot; Optimal trajectories; Poincar sections; Rigid and compliant contact models; Robustness evaluation; Stable walking

Indexed keywords

ACTUATORS; ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; MOTION CONTROL; OPTIMAL CONTROL SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); TORQUE CONTROL;

BIPED ROBOT; POINCARE SECTIONS; RIGID CONTACT MODEL; WALKING;

MOBILE ROBOTS;

EID: 0041881564     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2003.814514     Document Type: Article

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