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Oct 22, 2024 · This paper analyzes the stabilization problem from the energy point of view. Perturbations are detected by the gyros and categorized according ...

They are usually fully actuated with their bases being fixed, which grants them full control authority at all times. Simple control strategies are adequate ...

The hybrid zero dynamics is created by zeroing a set of virtual constraints. How to design the virtual constraints in order to create interesting walking gaits ...

3.4.3 Constraints . ... Kinematics is the study of the motion of the subject without regard to the forces that.

This paper considers theoretically and experimentally the control problem of the biped locomotion system on the double support phase.

Abstract—Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and ...

At the low level, WBC models biped robots as rigid body dynamic systems with a floating base and physical constraints.15 The robot is controlled to accomplish ...

May 23, 2006 · Abstract: This paper seeks to review the developments in the field within the framework of stability and control of systems subject to ...