Fumihiko Asan

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  • Fumihiko Asan
  • 2015 IEEE International Conference on Advanced…
  • 2015
This paper proposes a novel method for achieving limit cycle walking taking the landing position of the swing leg into account. First, we introduce a model of a planar compass-like biped robot with rigid bent legs, and develop the equations of motion and collision. Second, we propose a control strategy focused on the use of the stance-leg angle as a virtual(More)
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