Stability of Walking in a Multilegged Robot Suffering Leg Loss.
Dirk SpennebergKevin McCulloughFrank KirchnerPublished in: ICRA (2004)
Keyphrases
- walking robot
- humanoid robot
- biped robot
- walking speed
- legged robots
- gait patterns
- human robot interaction
- biologically inspired
- legged locomotion
- limit cycle
- quadruped robot
- motion planning
- multi modal
- biped walking
- human robot
- stability margin
- inverted pendulum
- mobile robot
- disturbance rejection
- robot arm
- stability analysis
- control strategy
- steady state