Unified Passivity-Based Control for Turning and Walking in Asymptotically Stable Biped Robots
Dynamically stable biped robots that mimic human movement have seen significant progress in straight walking, but turning and steering remain challenging. This paper presents a novel passivity-based method for turning control and steering in 3D asymptotically stable biped robots. We replicate energy...
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| Autore principale: | |
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| Natura: | Artigo |
| Lingua: | Inglês |
| Pubblicazione: |
IEEE
2025-01-01
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| Serie: | IEEE Access |
| Soggetti: | |
| Accesso online: | https://ieeexplore.ieee.org/document/11130178/ |
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