Van der Weijde, J.O. (author) Within the field of humanoid robotics, stability and robustness during gait is a reoccurring challenge. In particular for limit-cycle walkers, like the humanoid robot TUlip, robustness poses a problem. To improve the robustness of limit-cycle walking, an add-on control method is proposed, which adjusts step length. The control method tries to...
master thesis 2014