Control Strategy for the Robust Dynamic Walk of a Biped Robot

@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}
}
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 disturbance correspond to those most frequently encountered by biped robots during walking in an unknown environment. KEY WORDS—under-actuated… CONTINUE READING

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P © 2006 SAGE Publications

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