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In this paper, we present both simulation analysis and experimental study of a planar dynamic biped walking robot. The proposed control structure involves an equilibrium point controller at the local joint level and state machines at the interjoint level. The robot has actuated hip joints and knee joints as well as unactuated ankle joints with curved feet. We first show in simulation analysis that...
In this paper, we explore the dynamic walking capability of the planar biped robot RunBot with a now added active upper-body component. Originally, the robot was designed and built to perform fast walking especially on a flat floor. Its locomotion is driven by so-called neural reflexive control. This controller does not employ any kind of position or trajectory-tracking control algorithm. Instead,...
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