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Gait planning for a biped robot by a nonholonomic system with difference equation constraints.
Nobuya Yao
Tomohito Takubo
Kenichi Ohara
Yasushi Mae
Tatsuo Arai
Published in:
IROS (2010)
Keyphrases
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biped robot
biologically inspired
motion planning
control strategy
inverted pendulum
difference equations
feedback control
mobile robot
path planning
differential equations
control law
real time
genetic programming
human body
degrees of freedom