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...
| Autor principal: | |
|---|---|
| Outros Autores: | |
| Formato: | conferenceObject |
| Idioma: | eng |
| Publicado em: |
2004
|
| Assuntos: | |
| Texto completo: | http://hdl.handle.net/10400.22/9760 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/9760 |