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This paper discusses low level control of the humanoid UT-Theta which has been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories...
This paper discusses walking control of Theta, an innovative humanoid walking robot equipped with a double spherical hip joint and a knee joint switchable between active and passive operation mode, which has been developed at the University of Tokyo. The walking generator and controller are presented, including some implementation aspects. It is based on the inverted pendulum approach with the innovative...
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