From passive to active dynamic walking

@article{Ohta1999FromPT,
  title={From passive to active dynamic walking},
  author={Hiroki Ohta and Masaki Yamakita and Katsuhisa Furuta},
  journal={Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)},
  year={1999},
  volume={4},
  pages={3883-3885 vol.4}
}
The paper firstly presents a passive walking machine with an actuator at the hip which is controlled so that walking on a slope can be continued. In the second part, how to modify the control law for the robot walking on level ground is discussed and studied for the given robot when actuators are added at the ankles. 

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