Reduction-based control of three-dimensional bipedal walking robots

International Journal of Robotics Research

Volumn 29, Issue 6, 2010, Pages 680-702

  Gregg, Robert D ^a   Spong, Mark W ^b  

^a University of Illinois at Urbana Champaign   (United States)

^b The University of Texas at Dallas   (United States)

Author keywords

Bipedal locomotion; Generalized momentum; Geometric reduction; Hybrid systems; Limit cycle; Nonlinear control; Passive dynamics; Symmetry

Indexed keywords

BIPEDAL LOCOMOTION; GENERALIZED MOMENTUM; GEOMETRIC REDUCTION; LIMIT CYCLE; NON LINEAR CONTROL;

DELTA SIGMA MODULATION; ELECTRIC GROUNDING; GEOMETRY; HYBRID COMPUTERS; HYBRID SYSTEMS; THREE DIMENSIONAL;

ROBOTS;

EID: 77951230957     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364909104296     Document Type: Article

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