Stable dynamic walking over uneven terrain

International Journal of Robotics Research

Volumn 30, Issue 3, 2011, Pages 265-279

  Manchester, Ian R ^a   Mettin, Uwe ^b   Iida, Fumiya ^c   Tedrake, Russ ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^b NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^c ETH ZURICH   (Switzerland)

Author keywords

Dynamics; feedback control; legged robots; nonlinear hybrid systems; rough terrain.; transverse linearization; underactuated robots

Indexed keywords

LEGGED ROBOTS; NONLINEAR HYBRID SYSTEMS; ROUGH TERRAINS; TRANSVERSE LINEARIZATION; UNDERACTUATED ROBOT;

DYNAMICS; FEEDBACK CONTROL; FEEDBACK LINEARIZATION; HYBRID COMPUTERS; HYBRID SYSTEMS; IMPULSE RESPONSE; LANDFORMS; MACHINE DESIGN; NONLINEAR FEEDBACK; NONLINEAR SYSTEMS; ROBOTS; STABILIZATION; TRAJECTORIES;

CONTROL SYSTEM STABILITY;

EID: 79952175443     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364910395339     Document Type: Conference Paper

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