학술논문
Unified approach for m-stability analysis and control of legged robots
Document Type
Conference
Author
Source
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) Intelligent robots and systems Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on. 1:106-111 vol.1 2003
Subject
Language
Abstract
In this paper we address the issue of controlling the stability of legged robots based on the virtual generalized stabilizer (VGS) introduced in [J. Foret, et al.,2002]. The proposed approach is a theoretical framework that gives a unified point of view to design and to control the walking gaits. Although the presented work is general, the application focuses on the particular problem of static stability maintenance of a biped robot subject to a destabilizing impulsive force applied on its trunk.