Using time-reversal symmetry for stabilizing a simple 3D walker model

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 4673-4678

  Van Oort, Gijs ^a   Stramigioli, Stefano ^a  

^a UNIVERSITY OF TWENTE   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; FEEDBACK CONTROL; FUNCTIONAL ASSESSMENT; PARAMETER ESTIMATION; THREE DIMENSIONAL COMPUTER GRAPHICS;

3D WALKER MODELS; DEGREE OF ASYMMETRY; TIME-REVERSAL SYMMETRY;

BIPED LOCOMOTION;

EID: 36348929447     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.364199     Document Type: Conference Paper

References (7)

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3. M. Wisse, "Essentials of dynamic walking," Ph.D. dissertation, TU Delft, Sept. 2004.
4. V. Duindam, "Port-based modeling and control for effiecient bipedal, walking robots," Ph.D. dissertation, University of Twente, 2006.
5. S. H. Collins, M. Wisse, and A. Ruina, "A three-dimensional passivedynamic walking robot with two legs and knees," International Journal of Robotics Research, vol. 20, no. 7, pp. 607-615, July 2001.
6. G. van Oort, "Strategies for stabilizing a 3D dynamically walking robot," Master's thesis, University of Twente, June 2005.
7. A. Schwab and M. Wisse, "Basin of attraction of the simplest walking model," ASME 2001 Design Engineering Technical Conferences, vol. DETC2001/VIB-21363, Sept. 2001.