Effect of circular arc feet on a control law for a biped

Robotica

Volumn 27, Issue 4, 2009, Pages 621-632

  Kinugasa, T ^a   Chevallereau, C ^b   Aoustin, Y ^b  

^a OKAYAMA UNIVERSITY OF SCIENCE   (Japan)

^b UNIVERSITÉ DE NANTES   (France)

Author keywords

Circular arc feet; Nonlinear control; Stability analysis; Under actuated biped

Indexed keywords

4 DEGREES OF FREEDOM; ABSOLUTE ORIENTATION; ANALYTIC EXPRESSIONS; BASIN OF ATTRACTION; BIPED WALK; CIRCULAR ARC; CIRCULAR ARC FEET; CONTACT POINTS; CONTROL LAWS; CYCLIC MOTIONS; FEED-FORWARD COMPENSATION; IMPACT EVENTS; INPUT OUTPUT LINEARIZATION; LEG LENGTH; NONLINEAR CONTROL; PASSIVE DYNAMIC WALKING; PD CONTROL; POINCAR MAP; SINGLE-SUPPORT PHASE; SPEED OF CONVERGENCE; STABILITY ANALYSIS; TEMPORAL EVOLUTION; TRACKING CONTROLS; UNDER-ACTUATED BIPED; UNDERACTUATED;

BIPED LOCOMOTION; SYSTEM STABILITY;

CAVITY RESONATORS;

EID: 67651149921     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574708005006     Document Type: Article

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