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Detecting Zero-Moment Point in Legged Robot
(07/01/2014)
The study of Zero-moment point (ZMP) in ROBOCLIMBER (quadruped walking and climbing robot) was realized and calculated in real time during statically postural and dynamically balanced gait. Force sensor with strain gages ...
A New Methodology for the Design of Passive Biped Robots: Determining Conditions on the Robot’s Parameters for the Existence of Stable Walking Cycles
(Springer, 2011)
Currently, passive robots are designed following a trial and error process
in which the existence of a stable walking cycle for a given passive robot’s model
is analyzed using Poincaré maps. The standard stability analysis ...
A New Methodology for the Design of Passive Biped Robots: Determining Conditions on the Robot’s Parameters for the Existence of Stable Walking Cycles
(Springer, 2011-01-18)
Currently, passive robots are designed following a trial and error process
in which the existence of a stable walking cycle for a given passive robot’s model
is analyzed using Poincaré maps. The standard stability analysis ...
Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation
(2004-06-26)
In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the ...
a simple mapping methodology of gait biomechanics for walking control of a biped robot
(Institute of Electrical and Electronics Engineers Inc., 2018)
This research presents a simple mapping methodology for gait biomechanics of a human being into joint angles of a 10 degrees of freedom (DOF) biped robot. The joint angles are mapped by considering the zero moment point ...
Robust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Mode Control
(Cambridge University Press, 2014-02)