![Robot control / Dynamical systems / Underactuation / Generalized coordinates / Robot locomotion / Zero moment point / Lagrangian mechanics / Walking / Bipedalism Robot control / Dynamical systems / Underactuation / Generalized coordinates / Robot locomotion / Zero moment point / Lagrangian mechanics / Walking / Bipedalism](https://www.pdfsearch.io/img/37092f7446e36d301d4fcc9eb26f7919.jpg) Date: 2016-04-25 13:15:12Robot control Dynamical systems Underactuation Generalized coordinates Robot locomotion Zero moment point Lagrangian mechanics Walking Bipedalism | | 1 HZD-Based Control of a Five-Link Underactuated 3D Bipedal Robot J.W. Grizzle, Christine Chevallereau, and Ching-Long Shih Abstract— This paper presents a within-stride feedback controller that achieves an exponentiAdd to Reading ListSource URL: web.eecs.umich.eduDownload Document from Source Website File Size: 220,40 KBShare Document on Facebook
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