High-Frequency Vibration of Leg Masses for Improving Gait Stability of Compass Walking on Slippery Downhill.
Longchuan LiFumihiko AsanoIsao T. TokudaPublished in: J. Robotics Mechatronics (2019)
Keyphrases
- high frequency
- biped robot
- limit cycle
- gait patterns
- walking speed
- low frequency
- legged robots
- disturbance rejection
- gait recognition
- neural model
- visual quality
- humanoid robot
- control scheme
- high resolution
- walking robot
- subband
- wavelet transform
- low pass
- high frequencies
- control strategy
- human identification
- discrete wavelet transform
- human gait
- wavelet coefficients
- quadruped robot
- inverted pendulum
- wavelet domain
- low bit rate coding
- frequency band