Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics

DOI10.1145/2185632.2185655zbMath1364.70017OpenAlexW2155658243MaRDI QIDQ2986761

Matthew Powell, Eric A. Cousineau, Aaron D. Ames

Publication date: 16 May 2017

Published in: Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1145/2185632.2185655

zbMATH Keywords

hybrid systemsbipedal robotic walkinghuman-data based optimizationnonlinear dynamics and control

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Artificial intelligence for robotics (68T40)

Related Items (5)

Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs ⋮ Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain ⋮ First steps toward formal controller synthesis for bipedal robots with experimental implementation ⋮ Models, feedback control, and open problems of 3D bipedal robotic walking ⋮ Dynamic Bipedal Walking under Stick-Slip Transitions

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