Control Strategy for the Robust Dynamic Walk of a Biped Robot

Abstract

This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of… (More)
DOI: 10.1177/0278364906069151

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Cite this paper

@article{Sabourin2006ControlSF, title={Control Strategy for the Robust Dynamic Walk of a Biped Robot}, author={Christophe Sabourin and Olivier Bruneau and Gabriel Buche}, journal={I. J. Robotics Res.}, year={2006}, volume={25}, pages={843-860} }