Limit cycles and their stability in a passive bipedal gait.
Ambarish GoswamiBernard EspiauAhmed KeramanePublished in: ICRA (1996)
Keyphrases
- walking speed
- limit cycle
- gait recognition
- steady state
- humanoid robot
- neural model
- disturbance rejection
- control scheme
- gait patterns
- control algorithm
- human gait recognition
- control loop
- gait analysis
- biped robot
- asymptotic stability
- human gait
- learning algorithm
- human identification
- principal component analysis
- information systems