IEEE - Institute of Electrical and Electronics Engineers, Inc. - Bio-Inspired Equilibrium Point Control Scheme for Quadrupedal Locomotion

Author(s): Yapeng Shi ; Pengfei Wang ; Xin Wang ; Fusheng Zha ; Zhenyu Jiang ; Wei Guo ; Mantian Li
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2019
Volume: 11
Page(s): 200 - 209
ISSN (Electronic): 2379-8939
ISSN (Paper): 2379-8920
DOI: 10.1109/TCDS.2018.2853597
Regular:

The goal of this paper is to present a force control scheme for quadrupedal locomotion by adopting observations of biological motor behavior. Specifically, based on the equilibrium point (EP)... View More

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