Stability Proof of Biped Walking Control based on Point-Contact.

Masahiro Doi Yasuhisa Hasegawa Takayuki Matsuno Toshio Fukuda

Published in: ICRA (2007)

Keyphrases

biped walking
stability margin
external disturbances
control method
legged robots
control system
dynamic programming
lyapunov function
interval type fuzzy
mathematical model
pid controller
fuzzy logic controller
inverted pendulum