A robust, agile and versatile humanoid locomotion based on analytical control and residual physics
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains or face external disturbances, they combine a set of strategies, unconsciously and efficiently, to regain stability. This thesis tack...
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| Format: | doctoralThesis |
| Language: | eng |
| Published: |
2022
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| Online Access: | http://hdl.handle.net/10773/33545 |
| Country: | Portugal |
| Oai: | oai:ria.ua.pt:10773/33545 |