IEEE - Institute of Electrical and Electronics Engineers, Inc. - Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode

Author(s): Kajita, S. ; Tani, K.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Sacramento, CA, USA
Conference Date: 9 April 1991
ISBN (Paper): 0-8186-2163-X
DOI: 10.1109/ROBOT.1991.131811
Regular:

A novel control method for biped locomotion on rugged terrain is introduced, assuming an ideal robot model which has massless legs. By applying constraint control to the robot body so that it... View More

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