Stability and Gait Switching of Underactuated Biped Walkers.

Martin Fevre Hai Lin James P. Schmiedeler

Published in: IROS (2019)

Keyphrases

limit cycle
biped robot
control scheme
walking speed
control strategy
steady state
humanoid robot

neural model
feedback controller
control law
biologically inspired
motion planning
legged robots
control algorithm

closed loop
simulation study
controller design
inverted pendulum
mechanical systems
multi modal
biped walking

human identification
feedback control
motion capture
control parameters
pid controller
human body