Straight-Leg Walking Through Underconstrained Whole-Body Control.
Robert J. GriffinGeorg WiedebachSylvain BertrandAlexander LeonessaJerry E. PrattPublished in: ICRA (2018)
Keyphrases
- walking robot
- biped robot
- humanoid robot
- disturbance rejection
- control method
- legged locomotion
- inverted pendulum
- biologically inspired
- database
- control system
- line segments
- control strategy
- feedback loop
- lower extremity
- open loop
- control problems
- optimal control
- three dimensional
- case study
- information systems
- real time