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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.

    CERDA, GUSTAVO MEDRANO DALLALI, HOUMAN and BROWN, MARTIN 2012. CONTROL OF A COMPLIANT HUMANOID ROBOT IN DOUBLE SUPPORT PHASE: A GEOMETRIC APPROACH. International Journal of Humanoid Robotics, Vol. 09, Issue. 01, p. 1250004.


    Miyazaki, S and Yamamoto, S 1993. Moment acting at the metatarsophalangeal joints during normal barefoot level walking. Gait & Posture, Vol. 1, Issue. 3, p. 133.


    Furusho, J. and Sano, A. 1991. Adaptability of Human Gait - Implications for the Control of Locomotion.


    Sano, A. and Furusho, J. 1991. Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments. p. 729.

    Sano, A. and Furusho, J. 1990. Proceedings., IEEE International Conference on Robotics and Automation. p. 1476.

    Palma-Villalon, E. and Dauchez, P. 1988. World representation and path planning for a mobile robot. Robotica, Vol. 6, Issue. 01, p. 35.


    Ito, Masami and Narikiyo, Tatsuo 1986. Analysis and control of biped locomotion subject to constraints. Advanced Robotics, Vol. 1, Issue. 2, p. 165.


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Control of a biped locomotion system in a double support phase

  • Tatsuo Narikiyo (a1) and Masami Ito (a2)
  • DOI: http://dx.doi.org/10.1017/S0263574700001740
  • Published online: 01 March 2009
Abstract

This paper considers theoretically and experimentally the control problem of the biped locomotion system on the double support phase. The motion on the double support phase is described by the constrained dynamic system with two static constraints. The reduced order equations are derived by eliminating Lagrange's multiplier from the constrained equations, and a control algorithm for stabilizing the motion is obtained in reduced space. Finally, this algorithm is applied to an actual robot constructed in our laboratory and its usefulness is shown.

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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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