2018
Efficient Stabilization of Zero-Slope Walking for Bipedal Robots Following Their Passive Fixed-Point Trajectories
ICRA 2018poster
This paper presents an efficient method of stabilizing the gait of an underactuated biped with compliant legs and semicircular feet. First, the model is defined, incorporating elements that are often present in experimental biped robots. The biped's passive behavior is studied through numerical simu…