Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities


This paper presents a methodology for controlling dynamic bipedal walking in a compliantly actuated humanoid robotic system. The approach is such that it exploits the natural leg dynamics of the single and double support phase of the gait. The present approach avoids to close a torque control loop at joint level. While simulation implementations of torque… (More)
DOI: 10.1109/HUMANOIDS.2016.7803435


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