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Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control.
George Mesesan
Johannes Englsberger
Gianluca Garofalo
Christian Ott
Alin Albu-Schäffer
Published in:
Humanoids (2019)
Keyphrases
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walking robot
legged robots
control system
control theory
dynamic environments
humanoid robot
control method
three dimensional
mobile robot
optimal control
changing environment
control strategies
dynamic response
impedance control
wheeled mobile robots