Modeling, stability and control of biped robots - a general framework

Abstract

The focus of this survey is the modeling and control of bipedal locomotion systems. More speci6cally, we seek to review the developments in the 6eld within the framework of stability and control of systems subject to unilateral constraints. We place particular emphasis on three main issues that, in our view, form the underlying theory in the study of… (More)
DOI: 10.1016/j.automatica.2004.01.031

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