Blind Walking of a Planar Biped on Sloped Terrain


This thesis demonstrates the successful application of Virtual Model Control (VMC) to a simulated sevenlink planar biped for walking dynamically and steadily over sloped terrain with unknown slope gradients and transition locations. The slope gradients were assumed to be between ± 20; and it had maximum transitional gradient change of less than 20 per step… (More)


35 Figures and Tables