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• W1549831266 abstract "This paper addresses a novel computation method of the Maximal Output Admissible (MOA) set for a limit cycle controller and its application to motion transition. By approximately calculating the MOA set via sample point cloud, we can obtain an analytic form of the MOA set even on a nonlinear system. Formulation provided in this paper can be applicable to various types of controllers. Using the MOA set, we demonstrate a motion transition from a standing posture to steady walking. Switching two types of controllers based on the MOA set realizes motion transition with the COP constraint satisfied. The validity of proposed method is verified with a simulation." @default.
• W1549831266 created "2016-06-24" @default.
• W1549831266 creator A5035701118 @default.
• W1549831266 creator A5056802290 @default.
• W1549831266 date "2015-05-01" @default.
• W1549831266 modified "2023-10-03" @default.
• W1549831266 title "Maximal Output Admissible set for limit cycle controller of humanoid robot" @default.
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• W1549831266 doi "https://doi.org/10.1109/icra.2015.7139996" @default.
• W1549831266 hasPublicationYear "2015" @default.
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