Metastable Walking Machines
Legged robots that operate in the real world are inherently subject to stochasticity in their dynamics and uncertainty about the terrain. Owing to limited energy budgets and limited control authority, these “disturbances” cannot always be canceled out with high-gain feedback. Minimally actuated walk...
| Main Authors: | , |
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| Format: | Article |
| Language: | en_US |
| Published: |
Sage
2011
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| Online Access: | http://hdl.handle.net/1721.1/61973 https://orcid.org/0000-0002-8712-7092 |