Bipedal Robotic Walking on Flat-Ground, Up-Slope and Rough Terrain with Human-Inspired Hybrid Zero Dynamics
The thesis shows how to achieve bipedal robotic walking on flat-ground, up-slope and rough terrain by using Human-Inspired control. We begin by considering human walking data and find outputs (or virtual constraints) that, when calculated from the human data, are described by simple functions of tim...
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| Format: | Others |
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2013
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| Online Access: | http://hdl.handle.net/1969.1/148284 |