Stable dynamic walking over uneven terrain

Stable dynamic walking over uneven terrain

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated "dynamic walking" biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging d...

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Bibliographic Details
Main Authors: Manchester, Ian R. (Contributor), Mettin, Uwe (Author), Iida, Fumiya (Author), Tedrake, Russell Louis (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: Sage, 2011-04-25T21:30:30Z.
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