Position/force control of biped locomotion systems
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: sinlge support, in which one leg is in contact with the ground and the other leg swings foward, and double suppor...
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| Format: | conferenceObject |
| Language: | eng |
| Published: |
2019
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| Online Access: | http://hdl.handle.net/10400.22/13398 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13398 |