Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot.
Christine ChevallereauJessy W. GrizzleChing-Long ShihPublished in: IEEE Trans. Robotics (2009)
Keyphrases
- humanoid robot
- motion planning
- walking speed
- human robot interaction
- biologically inspired
- mechanical systems
- multi modal
- autonomous robots
- robot arm
- human robot
- rough terrain
- manipulation tasks
- walking robot
- obstacle avoidance
- mobile robot
- real robot
- biped walking
- control law
- legged locomotion
- degrees of freedom
- central pattern generator
- control system
- biped robot
- path planning