Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
Bipedal locomotion in humanoid robots is a very challenging problem within the field of robot locomotion. In this thesis, we propose and demonstrate an omni-directional walking engine that achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits fo...
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Virginia Tech
2014
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| Online Access: | http://hdl.handle.net/10919/34390 http://scholar.lib.vt.edu/theses/available/etd-08062010-150543/ |