Start, Stop and Transition of Velocities of an under-Actuated Bipedal Robot without Reference Trajectories

Abstract

In this paper, we propose a control strategy allowing us to perform the transition of velocities included in [0m/s; 1m/s] for the dynamic walking of a virtual under-actuated robot (RABBIT) without reference trajectories. This strategy of control enables us to carry out the transition from stop towards walking and the reverse process. The interest of this… (More)
DOI: 10.1142/S0219843604000174

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