Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot
Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3-D bipedal robot consisting of a torso, revolute knees, and passive (unactuated) point feet. The walking surface is assumed to be rigid and flat; the contact between the robot and the walking …