Straight-Leg Walking Through Underconstrained Whole-Body Control.
Robert J. GriffinGeorg WiedebachSylvain BertrandAlexander LeonessaJerry E. PrattPublished in: CoRR (2017)
Keyphrases
- walking robot
- humanoid robot
- biped robot
- disturbance rejection
- control method
- legged locomotion
- control strategy
- control system
- control theory
- inverted pendulum
- biologically inspired
- adaptive control
- open loop
- straight line
- line segments
- degrees of freedom
- control problems
- feedback loop
- data acquisition
- walking speed
- gait patterns
- database