Analysis results and tools for the control of planar bipedal gaits using hybrid zero dynamics

Autonomous Robots

Volumn 23, Issue 2, 2007, Pages 131-145

  Westervelt, E R ^a   Morris, B ^b   Farrell, K D ^a  

^a The Ohio State University   (United States)

^b UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Bipedal; Bipeds; Dynamic singularity; Hybrid zero dynamics; Passive bipedal walker

Indexed keywords

CONSTRAINT THEORY; CONTROL EQUIPMENT; ROBUST CONTROL;

DYNAMIC SINGULARITY; HYBRID ZERO DYNAMICS; PASSIVE BIPEDAL WALKER;

GAIT ANALYSIS;

EID: 34548282226     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-007-9036-9     Document Type: Article

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