Control Strategy For The Robust Dynamic Walk Of A Biped Robot  

Oleh:

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Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 25 no. 9 (Sep. 2006), page 843-860.
Topik: under-actuated biped robot; dynamic walking gait; CMAC neural networks; robustness
Fulltext: 843.pdf (795.28KB)

Isi artikel

This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of disturbance correspond to those most frequently encountered by biped robots during walking in an unknown environment.

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