期刊
IEEE ACCESS
卷 4, 期 -, 页码 3469-3478出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2016.2582731
关键词
3D walking; underactuated bipedal robot; optimal control
资金
- National Science Foundation [ECCS-1231171, ECCS-1343720]
Analysis and controller design methods abound in the literature for planar (also known as 2-D) bipedal models. This paper takes one of them developed for underactuated bipeds and documents the process of designing a family of controllers on the basis of a planar model and achieving stable walking on a physical 3-D robot, both indoors and outdoors, with walking speed varying smoothly from 0 to 0.8 m/s. The longest walk in a single experiment is 260 m over terrain with +/- 7 degrees of slope variation. Advantages and disadvantages of the design approach are discussed.
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