2016
Gait transitions and disturbance response for planar bipeds with reaction wheel actuation
IROS 2016poster
The reaction wheel stabilizer (RWS) concept for bipedal stabilization consists of a wheel that can be accelerated in order to impart a reaction torque on the rest of the biped. The beneficial effects of such a device (or emulation of such a device through limb motion) on transient body motions are n…