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Removing Phase Variables from Biped Robot Parametric Gaits
Hybrid zero dynamics-based control is a promising framework for controlling underactuated biped robots and powered prosthetic legs. In this control paradigm, stable walking gaits are implicitly encoded in polynomial output functions of the robot configuration variables, which are to be zeroed via fe...
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| Publicado no: | Control Technol Appl |
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| Main Authors: | , , |
| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
2017
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| Assuntos: | |
| Acesso em linha: | https://ncbi.nlm.nih.gov/pmc/articles/PMC6124698/ https://ncbi.nlm.nih.gov/pubmed/30198027 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/CCTA.2017.8062563 |
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