Biped gait controller with active perturbation recovery.
The goals of this work are to develop a biped gait controller and an active fall recovery algorithm, both based on the capture point stability theory with the criterion of N-step capturability, validate this algorithms via simulations; and to design a biped robot that represents gait on the sagittal...
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| Format: | masterThesis |
| Language: | eng |
| Published: |
2020
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| Online Access: | https://doi.org/10.11606/D.3.2020.tde-20012021-165557 |
| Country: | Brazil |
| Oai: | oai:teses.usp.br:tde-20012021-165557 |