Planar biped walking with an equilibrium point controller and state machines

IEEE/ASME Transactions on Mechatronics

Volumn 15, Issue 2, 2010, Pages 253-260

  Geng, Tao ^a   Gan, John Q ^b  

^a ABERYSTWYTH UNIVERSITY   (United Kingdom)

^b UNIVERSITY OF ESSEX   (United Kingdom)

Author keywords

Biped robot; Dynamic walking; Equilibrium point (EP) control; Legged locomotion

Indexed keywords

ANKLE JOINTS; BIPED ROBOT; BIPED WALKING; BIPED WALKING ROBOTS; CONTROL STRUCTURE; CONTROLLER PARAMETER; DYNAMIC WALKING; EQUILIBRIUM POINT; EXPERIMENTAL STUDIES; GAIT PATTERN; HIP JOINTS; KNEE JOINT; LEGGED LOCOMOTION; ON THE FLIES; REAL-TIME EXPERIMENT; SIMULATION ANALYSIS; STABLE WALKING; STATE MACHINE; UNACTUATED; WALKING SPEED;

CONTOUR FOLLOWERS; JOINTS (ANATOMY); ROBOTS;

CONTROLLERS;

EID: 77950594958     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2009.2024742     Document Type: Article

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