Stable Dynamic Walking over Rough Terrain

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated "dynamic walking" biped robot walking over rough terrain. The proposed technique is to compute a transverse...

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Bibliographic Details
Main Authors: Manchester, Ian R., Mettin, Uwe, Iida, Fumiya, Tedrake, Russ
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:English
Published: Springer Science and Business Media LLC 2021
Online Access:https://hdl.handle.net/1721.1/137644