Human-like control strategy of a bipedal walking model

@article{Olenek2008HumanlikeCS,
  title={Human-like control strategy of a bipedal walking model},
  author={Andrej Olen{\vs}ek and Zlatko Matjacic},
  journal={Robotica},
  year={2008},
  volume={26},
  pages={295-306}
}
This paper presents a two-level control strategy for bipedal walking mechanism that accounts for implicit control of push-off on the between-step control level and tracking of imposed holonomic constraints on kinematic variables via feedback control on within-step control level. The proposed control strategy was tested in a biologically inspired model with minimal set of segments that allows evolution of human-like push-off and power absorption. We investigated controller’s stability… CONTINUE READING

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