Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking.
Terumasa NarukawaMasaki TakahashiKazuo YoshidaPublished in: IROS (2005)
Keyphrases
- biped robot
- inverted pendulum
- legged locomotion
- humanoid robot
- walking robot
- legged robots
- control strategy
- biologically inspired
- quadruped robot
- disturbance rejection
- walking speed
- limit cycle
- control method
- mobile robot
- nonlinear systems
- simulation study
- central pattern generator
- control scheme
- control loop
- control system
- biped walking
- dynamic environments
- rough terrain
- fuzzy controller
- control parameters
- feedback loop
- control algorithm
- robot motion
- motion planning
- robotic systems
- feedback control
- degrees of freedom
- intelligent control
- mathematical model
- robot control
- higher level
- motion capture