Identification of a Bipedal Robot with a Compliant Drivetrain

DOI10.1109/MCS.2010.939963zbMath1395.93400OpenAlexW2122116594MaRDI QIDQ5375732

Jessy W. Grizzle, Jonathan W. Hurst, Hae-Won Park, Koushil Sreenath

Publication date: 14 September 2018

Published in: IEEE Control Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/mcs.2010.939963

Mathematics Subject Classification ID

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

Related Items (5)

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots ⋮ Optimization of energy efficiency of walking bipedal robots by use of elastic couplings in the form of mechanical springs ⋮ First steps toward formal controller synthesis for bipedal robots with experimental implementation ⋮ Parameter to state stability of control Lyapunov functions for hybrid system models of robots ⋮ Models, feedback control, and open problems of 3D bipedal robotic walking

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