Gait Control of a Biped Robot Using an Exact Limit Cycle Trajectory and the Backstepping Method
碩士 === 南台科技大學 === 機械工程系 === 97 === This thesis investigates the possibility of the existence of an exact, periodic limit cycle in passive gaits; then applies the found limit cycle to gait control. The angular position and velocity will converge to the limit cycle then. Hence, the stability of gaits...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/69608455370365909845 |