Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation
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 foot/feet against the ground during robot locomotion. Zero moment point based mathe...
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| フォーマット: | article |
| 言語: | 英語 |
| 出版事項: |
2004
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| オンライン･アクセス: | http://ridda2.utp.ac.pa/handle/123456789/2380 |
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