Port-based Control of a Compass-gait Bipedal Robot
نویسندگان
چکیده
We examine the control problem of curve-tracking for fully-actuated mechanical systems, applied to walking robots. First, we discuss earlier results on curve-tracking using a change of coordinates to split the kinetic energy in a desired and an undesired part. Then, we apply and extend these results to the case of a compass-gait biped, and show in a simulation how its robustness against surface height variations can be increased. Copyright c ©2005 IFAC
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تاریخ انتشار 2005