A control approach for actuated dynamic walking in biped robots

IEEE Transactions on Robotics

Volumn 25, Issue 6, 2009, Pages 1292-1303

  Braun, David J ^a   Goldfarb, Michael ^a  

^a VANDERBILT UNIVERSITY   (United States)

Author keywords

Biped; Dynamic walking

Indexed keywords

BIPED ROBOT; CLOSED-LOOP CONTROL; CONTROL APPROACH; CONTROL TORQUE; CONTROLLER ROBUSTNESS; DYNAMIC WALKING; INITIAL CONFIGURATION; JOINT TORQUES; KINEMATIC TRAJECTORIES; LIMB MOTIONS; MODEL PARAMETERS; MODEL-BASED; NATURAL DYNAMICS; PASSIVE CONTROL; REFERENCE FRAME; REFERENCE TRAJECTORIES; STATE-DEPENDENT;

CLOSED LOOP CONTROL SYSTEMS; PASSIVE NETWORKS;

SIMULATORS;

EID: 72149084627     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2009.2028762     Document Type: Article

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