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- W2012364893 abstract "We examine the control problem of curve-tracking for fully-actuated mechanical systems, applied to walking robots. First, we discuss earlier results on curve-tracking using a change of coordinates to split the kinetic energy in a desired and an undesired part. Then, we apply and extend these results to the case of a compass-gait biped, and show in a simulation how its robustness against surface height variations can be increased." @default.
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- W2012364893 modified "2023-09-27" @default.
- W2012364893 title "PORT-BASED CONTROL OF A COMPASS-GAIT BIPEDAL ROBOT" @default.
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- W2012364893 doi "https://doi.org/10.3182/20050703-6-cz-1902.00733" @default.
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