Hybrid control of biped robots to increase stability in locomotion

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(200004)17:4<187::AID-ROB2>3.0.CO;2-L" /><187::AID-ROB2>3.0.CO;2-L 10.1002/(SICI)1097-4563(200004)17:4<187::AID-ROB2>3.0.CO;2-LzbMath0963.70536OpenAlexW2002371079MaRDI QIDQ4486998

H. Chung, Jong Hyeon Park

Publication date: 26 June 2001

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(200004)17:4<187::aid-rob2>3.0.co;2-l

zbMATH Keywords

impedance controlhybrid control methodcomputed-torque controlbiped robot locomotiongail phasestable footingswinging leg

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

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