Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid

@article{Pratt2012CapturabilitybasedAA,
  title={Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid},
  author={Jerry E. Pratt and Twan Koolen and Tomas de Boer and John R. Rebula and Sebastien Cotton and John Carff and Matt Johnson and Peter D. Neuhaus},
  journal={I. J. Robotics Res.},
  year={2012},
  volume={31},
  pages={1117-1133}
}
This two-part paper discusses the analysis and control of legged locomotion in terms of N -step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrictive criterion for stability. Part 1 introduced the N -step capturability framework and showed how to obtain capture regions and control sequences for simplified gait models. In Part 2, we describe… CONTINUE READING
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