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A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL.

Koushil SreenathHae-Won ParkIoannis PoulakakisJ. W. Grizzle
Published in: Int. J. Robotics Res. (2011)
Keyphrases
  • real time
  • dynamic model
  • neural network
  • lightweight
  • dynamical systems
  • optimal control