IEEE - Institute of Electrical and Electronics Engineers, Inc. - Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles

2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

Author(s): Qining Wang ; Long Wang ; Yan Huang ; Jinying Zhu ; Wei Chen
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Shanghai, China, China
Conference Date: 15 December 2009
Page(s): 8,200 - 8,205
ISBN (CD): 978-1-4244-3872-3
ISBN (Paper): 978-1-4244-3871-6
ISSN (CD): 0191-2216
ISSN (Paper): 0191-2216
DOI: 10.1109/CDC.2009.5399656
Regular:

This paper investigates three-dimensional quasi-passive dynamic bipedal walking on level ground with flat feet and compliant ankles. We present pointmass dynamic models to analyze and tune the... View More

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