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Energy-optimal relative timing of stance-leg push-off and swing-leg retraction in walking.
S. Javad Hasaneini
John E. A. Bertram
Chris J. B. Macnab
Published in:
Robotica (2017)
Keyphrases
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walking robot
biped robot
humanoid robot
walking speed
gait patterns
feedback loop
disturbance rejection
limit cycle
optimal solution
legged locomotion
energy consumption
neural network
optimal control
inverted pendulum
optimal design
control strategy
inverse dynamics