Ning Lei

Asymptotically Stable Gait Generation and Instantaneous Walkability Determination for Planar Almost Linear Biped with Knees

A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common property of their equations of motion is that the inertia matrix is a constant matrix, there are no non…