Swing-leg retraction for limit cycle walkers improves disturbance rejection

IEEE Transactions on Robotics

Volumn 24, Issue 2, 2008, Pages 377-389

  Hobbelen, Daan G E ^a   Wisse, Martijn ^a  

^a DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

Bipeds; Disturbance rejection; Dynamic walking; Limit cycle walkers; Swing leg retraction

Indexed keywords

BIPED LOCOMOTION; COMPUTER SIMULATION; DYNAMICS; MOTION CONTROL;

FLOQUET MULTIPLIER; POINT MASS SIMULATION MODEL; SWING-LEG RETRACTION;

ROBOTICS;

EID: 42549105533     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.917002     Document Type: Article

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