Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot
Fast constraint satisfaction, frontal dynamics stabilization, and avoiding fallovers in dynamic, bipedal walkers can be pretty challenging. The challenges include underactuation, vulnerability to external perturbations, and high computational complexity that arise when accounting for the system full...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2021-12-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.770514/full |