Virtual coupling control for dynamic bipedal walking
نویسندگان
چکیده
In our previous works, we have proposed some system augmentation methods for dynamic bipedal walking in order to realize variable walking patterns in realtime, however, the robust performance of the methods have not been discussed yet. Based on the observation we propose a new coupling control law considering flywheel’s effect for robustness. In this paper the validity of the methods is analyzed and investigated by numerical simulations and experiments.
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تاریخ انتشار 2001