Hybrid-state driven autonomous control for planar bipedal locomotion over randomly sloped non-uniform stairs

Published 2017 View Full Article

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Title
Hybrid-state driven autonomous control for planar bipedal locomotion over randomly sloped non-uniform stairs
Authors
Keywords
Planar biped, Autonomous control, Non-uniform stairs, Ground envelope segments, Motion control primitive, Aperiodic orbital stability
Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 97, Issue -, Pages 18-39
Publisher
Elsevier BV
Online
2017-08-15
DOI
10.1016/j.robot.2017.08.003

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