Non-linear robust control for inverted-pendulum 2D walking (original) (raw)
Related papers
Biped walking stabilization based on linear inverted pendulum tracking
Sliuuji Kajita, Kazuhito Yokoi, Fumio Kanehiro
Intelligent Robots and …
An inverted pendulum based approach to biped trajectory generation with swing leg dynamics
2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007
The Boundaries of Walking Stability: Viability and Controllability of Simple Models
IEEE Transactions on Robotics, 2018
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
A Control Method for Humanoid Biped Walking with Limited Torque
Lecture Notes in Computer Science, 2002
Lateral Capture Steps for Bipedal Walking
BIPED HOPPING CONTROL BASED ON SPRING LOADED INVERTED PENDULUM MODEL
Meghdari Ali, Hossein Tamaddoni
Int. J. Human. …, 2010
BIPED HOPPING CONTROL BAzSED ON SPRING LOADED INVERTED PENDULUM MODEL
International Journal of Humanoid Robotics, 2010
IEEE Transactions on Industrial Electronics, 2015
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
2000
A solvable walking model for a two-legged robot
The European Physical Journal Plus
Nonlinear H(inf)˜ Control Applied to Biped Robots
Climbing and Walking Robots, 2010
Dynamic Control Strategy of a Biped Inspired from Human Walking
Intelligent Engineering Systems through Artificial Neural Networks Volume 18, 2008
1 Stable Bipedal Walking with Foot Rotation Through Direct Regulation of the Zero Moment Point
2013
Energy-Efficient Gait Planning and Control for Biped Robots Utilizing the Allowable ZMP Region
IEEE Transactions on Robotics, 2014
Archive of Mechanical Engineering, 2016
A Path-Following Approach to Stable Bipedal Walking and Zero Moment Point Regulation
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018
2019
Walking trajectory control for a biped robot
2009
Self-tuned trajectory control of a biped walking robot
A Control Strategy for a Dynamic Walking Biped with Articulated Legs
Stable Bipedal Walking With Foot Rotation Through Direct Regulation of the Zero Moment Point
IEEE Transactions on Robotics, 2008
An alternative approach to synthesizing bipedal walking
Biological Cybernetics, 2003
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Walking Control Based on Step Timing Adaptation
IEEE Transactions on Robotics
Synthesis of a Robust Dynamic Controller for the Stabilization of a Biped Robot's Walking
State machine-based controller for walk-halt-walk transitions on a biped robot
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots, 2008
Control Algorithm for Stable Walking of Biped Robots
Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion
David Tlalolini, C. Chevallereau
IEEE/ASME Transactions on Mechatronics, 2000
Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation
The International Journal of Robotics Research, 2004
Machines