AA

A. D. Ames

2 records found

From Human Walking to Bipedal Robot Locomotion

Reflex Inspired Compensation on Planned and Unplanned Downsteps

Humans are able to negotiate downstep behaviors-both planned and unplanned-with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if the morphology is inherently different. Concret ...
This chapter reviews different methods for the control of legged locomotion with a special focus on bipedal locomotion. All locomotion systems are governed by complex nonlinear, hybrid dynamics, and are redundant, underactuated and often unstable, which makes their control a very ...