Complete Stability Analysis of a Control Law for Walking Robots with Non-permanent Contacts

Abstract

One of the main specificities of walking robots is their non-permanent contact with the ground which impairs their stability. The only stability analyses of control laws that have been proposed so far for walking robots have been distinctly focusing on each contact phases, with the strong assumption that these phases are never perturbated [11, 13]. In this… (More)
DOI: 10.1007/3-540-26415-9_25

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Cite this paper

@inproceedings{Chareyron2005CompleteSA, title={Complete Stability Analysis of a Control Law for Walking Robots with Non-permanent Contacts}, author={Sophie Chareyron and Pierre-Brice Wieber}, booktitle={CLAWAR}, year={2005} }