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Design of stable walking gaits for biped robots with several underactuated degrees of freedom
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2012 (English)In: Dynamic Walking Conference 2012, Pensacola, Florida, U.S.A., 2012Conference paper, Poster (with or without abstract) (Refereed)
Abstract [en]

Dynamic walking gaits are theoretically reflected by theperiodic solutions exhibited by nonlinear impulsive dynamicalsystems [1]. In practice, such solutions, knownas limit cycles, can exist either as a natural responseof the system, e.g. passive walkers, or by the use offeedback control. Analytically, finding these solutionsis certainly challenging, and the complexity of the problemincreases considerably if a mixture in between passiveand actuated joints are considered, i.e. underactuatedrobots.

Place, publisher, year, edition, pages
2012.
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-61880OAI: oai:DiVA.org:umu-61880DiVA: diva2:572581
Conference
Dynamic Walking Conference 2012, Pensacola, Florida, U.S.A. 21 - 25 May 2012
Available from: 2012-11-29 Created: 2012-11-28 Last updated: 2016-02-15Bibliographically approved

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Design of stable walking gaits for biped robots with severalunderactuated degrees of freedom(570 kB)154 downloads
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Ortíz Morales, DanielLa Hera, Pedro X

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf