Planning and Control of Stable Walking for a 3D Bipedal Robot
This paper presents a time-invariant feedback controller that simultaneously regulates the ZMP (zero-moment point) position and the joint configuration of a 3D biped in order to achieve an asymptotically, periodic walking gait for a 3D bipedal robot with feet. The cyclic walking gait is composed of...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-08-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/50344 |