IEEE - Institute of Electrical and Electronics Engineers, Inc. - Monopedal running control: SLIP embedding and virtual constraint controllers

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Author(s): I. Poulakakis ; J.W. Grizzle
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2007
Conference Location: San Diego, CA, USA
Conference Date: 29 October 2007
Page(s): 323 - 330
ISBN (CD): 978-1-4244-0912-9
ISBN (Paper): 978-1-4244-0911-2
DOI: 10.1109/IROS.2007.4399559
Regular:

Two feedback controllers that induce stable running gaits on a three-degree-of-freedom asymmetric hopper, termed the asymmetric spring loaded inverted pendulum (ASLIP), see Fig. 1, are... View More

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