2015
Biped gait controller for large speed variations, combining reflexes and a central pattern generator in a neuromuscular model
ICRA 2015poster
Controllers based on neuromuscular models hold the promise of energy-efficient and human-like walkers. However, most of them rely on optimizations or cumbersome hand-tuning to find controller parameters which, in turn, are usually working for a specific gait or forward speed only. Consequently, desi…