First steps toward underactuated human-inspired bipedal robotic walking

@article{Ames2012FirstST,
  title={First steps toward underactuated human-inspired bipedal robotic walking},
  author={Aaron D. Ames},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={1011-1017}
}
This paper presents the first steps toward going from human data to formal controller design to experimental realization in the context of underactuated bipedal robots. Specifically, by studying experimental human walking data, we find that specific outputs of the human, i.e., functions of the kinematics, appear to be canonical to walking and are all characterized by a single function of time, termed a human walking function. Using the human outputs and walking function, we design a human… CONTINUE READING
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