The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We present a decoupled controller for a simulated three-dimensional biped. To handle the high-dimensionality of the system, we break the dynamics down into multiple subsystems, which we control separately. For both the sagittal and coronal plane dynamics, we use dynamic programming to simultaneously optimize body motion, foot placement, and step timing for a two link inverted pendulum model. To use...
In this paper, an iterative learning strategy is proposed for a biped which performs semi-active walking in the way that during the single support phase of walking, only the joints in the support leg are actuated and those in the swing leg are unactuated. This strategy is intended to provide further experimental tuning on the actuated joint trajectories computed by a model-based optimization procedure...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.