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• W2164118615 abstract "This paper deals with a discret-time control approach, proposed for the control of a five-link, four-actuator planar biped walker. The approach is based on the choice of a particular class of walk configurations that enables a full state controllability avoiding the need to use Poincare-like argumentation in the proof of motion's reproducibility (stability of limit cycles). Simulation results attest the efficiency of the proposed control approach." @default.
• W2164118615 created "2016-06-24" @default.
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• W2164118615 date "2009-10-01" @default.
• W2164118615 modified "2023-09-25" @default.
• W2164118615 title "A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot" @default.
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• W2164118615 doi "https://doi.org/10.1109/iros.2009.5353965" @default.
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