Simultaneous design of optimal gait pattern and controller for a bipedal robot
Abstract
Nowadays, biped robotics becomes an interesting topic for many control researchers. The biped robot is more adaptable than the other mobile robots in a varied environment and can have more diverse possibilities in planning the motion. However, it falls down easily and its control for stable walking is difficult. Therefore, generation of a desired walking pattern for the biped robot in the presence of some model uncertainties is an important...
Paper Details
Title
Simultaneous design of optimal gait pattern and controller for a bipedal robot
Published Date
Dec 19, 2009
Journal
Volume
23
Issue
4
Pages
401 - 429
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