Control Strategy for the Robust Dynamic Walk of a Biped Robot

Abstract : This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of disturbance correspond to those most frequently encountered by biped robots during walking in an unknown environment.
Type de document :
Article dans une revue
International Journal of Robotics Research, SAGE Publications, 2006, 25, (9) p. 843-860
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00092004
Contributeur : Christophe Sabourin <>
Soumis le : jeudi 7 septembre 2006 - 18:01:47
Dernière modification le : lundi 19 février 2018 - 11:50:04

Identifiants

  • HAL Id : hal-00092004, version 1

Collections

Citation

Christophe Sabourin, Olivier Bruneau, Gabriel Buche. Control Strategy for the Robust Dynamic Walk of a Biped Robot. International Journal of Robotics Research, SAGE Publications, 2006, 25, (9) p. 843-860. 〈hal-00092004〉

Partager

Métriques

Consultations de la notice

181