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• W2022971533 abstract "This paper reports on an underactuated 3D bipedal robot with passive feet that can start from a quiet standing position, initiate a walking gait, and traverse the length of the laboratory (approximately 10 m) at a speed of roughly 1 m/s. The controller was developed using the method of virtual constraints, a control design method first used on the planar point-feet robots Rabbit and MABEL. For the preliminary experiments reported here, virtual constraints were experimentally tuned to achieve robust planar walking and then 3D walking. A key feature of the controller leading to successful 3D walking is the particular choice of virtual constraints in the lateral plane, which implement a lateral balance control strategy similar to SIMBICON. To our knowledge, MARLO is the most highly underactuated bipedal robot to walk unassisted in 3D." @default.
• W2022971533 created "2016-06-24" @default.
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• W2022971533 date "2014-09-01" @default.
• W2022971533 modified "2023-10-18" @default.
• W2022971533 title "Preliminary walking experiments with underactuated 3D bipedal robot MARLO" @default.
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• W2022971533 doi "https://doi.org/10.1109/iros.2014.6942907" @default.
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