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Robotics / Humanoid robot / Forcing / Motion planning / Mathematical optimization / Walking / Mathematics / Applied mathematics / Robot control / Robot kinematics / Robot locomotion


Planar Multi-Contact Bipedal Walking Using Hybrid Zero Dynamics Jordan Lack, Matthew J. Powell, and Aaron D. Ames Abstract— This paper presents a method for achieving planar multi-phase, multi-contact robotic walking u
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Document Date: 2014-07-26 21:12:56

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File Size: 728,81 KB

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City

Kobe / Shanghai / Taipei / Milano / College Station / Capturability / Beijing / Lausanne / Bologna / Genoa / Chicago / /

Company

IEEE/RSJ Intl / CRC Press / Hybrid Systems / Honda / qnsk Lc / Kawada Industries / Cyber-Physical Systems / /

Country

Taiwan / Switzerland / Italy / Japan / China / /

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Facility

Texas A&M University / /

IndustryTerm

optimization algorithm / interior-point algorithm / feedback control law / dynamical systems / Online 3d vision / control systems / control law / /

Organization

National Science Foundation / CNS1136104 / Texas Emerging Technology Fund / Department of Mechanical Engineering / National Credit Union Administration / World Congress / National Aeronautics and Space Administration / Texas A&M University / /

Person

T. Koolen / Aaron D. Ames / Soa / Matthew J. Powell / Jordan Lack / /

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Position

momentum-based humanoid balance controller / guard / dynamics controller / human-inspired controller / T. D. / controller / /

ProgrammingLanguage

MATLAB / /

ProvinceOrState

Texas / Illinois / /

Technology

Av / interior-point algorithm / optimization algorithm / Simulation / animation / /

URL

http /

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