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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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| 發表在: | Control Technol Appl |
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| Main Authors: | , , |
| 格式: | Artigo |
| 語言: | Inglês |
| 出版: |
2017
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| 主題: | |
| 在線閱讀: | 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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