Combined control of CPG and torso attitude control for biped locomotion


This study aims at establishing a new control strategy for more natural and efficient bipedal locomotion. In this study, the robot is modeled as a planar biped model composed of a torso, hips, and two different legs with knees, but without ankles. The proposed method consists of central pattern generator (CPG) for legged locomotion and torso attitude… (More)
DOI: 10.1109/IROS.2005.1545005

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