Towards Force Interaction Control of Biped Walking Robots
This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The walking cycle is divided in two phases: single support, in which one leg is in contact with the ground and the other leg swings forward, and double suppo...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | conferenceObject |
| Language: | eng |
| Published: |
2004
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/10400.22/9760 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/9760 |