2017
Control walking speed by approximate-kinetic-model-based self-adaptive control on underactuated compass-like bipedal walker
ICRA 2017poster
This paper proposes an approximate-kinetic-model-based self-adaptive (AKS) control system to rapidly generate target walking speed by an underactuated compasslike bipedal walker. First, a model of the underactuated compass-like bipedal walker is built, and an open-loop system is introduced and analy…