Local stability of PD controlled bipedal walking robots
نویسندگان
چکیده
منابع مشابه
On the Stability of Bipedal Walking
Stability of bipedal locomotion is analyzed using a model of a planar biped written in the framework of systems with unilateral constraints. Based on this model, two different stable walking gaits are derived: one which fulfills the widely used criterion of the Zero Moment Point (ZMP) and another one violating this criterion. Both gaits are determined using systematic model-based designs. The m...
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ژورنال
عنوان ژورنال: Automatica
سال: 2020
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2020.108841