Goal-oriented biped walking based on force interaction control
This paper addresses the problem of modelling and control of 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, double support, in...
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| Format: | conferenceObject |
| Language: | eng |
| Published: |
2001
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| Online Access: | http://hdl.handle.net/10400.22/13391 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13391 |