Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics

HSCC'12 - Proceedings of the 15th ACM International Conference on Hybrid Systems: Computation and Control

Volumn , Issue , 2012, Pages 135-144

  Ames, Aaron D ^a   Cousineau, Eric A ^a   Powell, Matthew J ^a  

^a Department of Electrical and Computer Engineering   (United States)

Author keywords

Bipedal robotic walking; Human data based optimization; Hybrid systems; Nonlinear dynamics and control

Indexed keywords

BEST FIT; BIPEDAL ROBOT; BIPEDAL ROBOTIC WALKING; CLOSED FORM; DESIGN CONTROLLERS; DYNAMICS AND CONTROL; FIXED POINTS; HUMAN DATA; HUMAN LOCOMOTIONS; HYBRID PERIODIC ORBITS; HYBRID ZERO DYNAMICS; LOW-DIMENSIONAL REPRESENTATION; OPTIMIZATION PROBLEMS; SIMULATED BEHAVIORS; STABLE WALKING;

BIPED LOCOMOTION; CONTROLLERS; HYBRID SYSTEMS; MACHINE DESIGN; OPTIMIZATION; ROBOTS;

ROBOTICS;

EID: 84860621054     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1145/2185632.2185655     Document Type: Conference Paper

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