Time-Scale Control Approaches to Collisionless Walking of an Underactuated Rimless Wheel

[1]  Konrad Ahlin,et al.  Quiet (nearly collisionless) robotic walking , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[2]  Ambarish Goswami,et al.  Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point , 1999, Int. J. Robotics Res..

[3]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[4]  R. Siegwart,et al.  Efficient and Versatile Locomotion With Highly Compliant Legs , 2013, IEEE/ASME Transactions on Mechatronics.

[5]  M. Coleman,et al.  Motions of a Rimless Spoked Wheel: a Simple 3D System with Impacts , 1997 .

[6]  Robert D. Howe,et al.  Towards smooth bipedal walking , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[7]  Xuan Xiao,et al.  Output deadbeat control approaches to fast convergent gait generation of underactuated spoked walker , 2012, 2012 IEEE/SICE International Symposium on System Integration (SII).

[8]  Fumihiko Asano.  Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture , 2015 .

[9]  E. Westervelt,et al.  Feedback Control of Dynamic Bipedal Robot Locomotion , 2007 .

[10]  M. Vukobratovic,et al.  On the stability of anthropomorphic systems , 1972 .

[11]  Guy Bessonnet,et al.  Impactless sagittal gait of a biped robot during the single support phase , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).