Symmetric walking control: Invariance and global stability

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 1443-1450

  Hyon, Sang Ho ^a   Emura, Takashi ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

Controlled Hamiltonian; Dynamic locomotion; Hybrid periodic orbit; Invariance; Passivity; Symmetric orbit

Indexed keywords

BIPED LOCOMOTION; GAIT ANALYSIS; HAMILTONIANS; MOTION PLANNING; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY;

BIPED ROBOT; MODEL PARAMETERS; PERIODIC MOTION CONTROL; STABLE LIMIT CYCLE;

MOBILE ROBOTS;

EID: 33846133265     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570318     Document Type: Conference Paper

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