LOCOMOTION
EXPERIMENTAL VALIDATION OF A CONTROL METHOD FOR UNDERACTUATED BIPEDAL WALKING ON COMPLIANT GROUND
Daojin Yao, Yao Wu, Yang Wang, Xiaohui Xiao
- Year
- 2018
- Citations
- 2
- Access
- Open access
Abstract
This paper presents the experimental validation of an adaptive feed-forward control (AFC) method for underactuated bipedal walkingon compliant ground using UBbot, a four-link planar robot proto-type composed of two legs with knees and unactuated point feet.
Keywords
UnderactuationControl theory (sociology)BipedalismComputer sciencePlanarPoint (geometry)RobotControl (management)Control engineeringEngineering
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