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 exponenti

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Date: 2016-04-25 13:15:12 Robot 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 exponenti Add to Reading List Source URL: web.eecs.umich.edu Download Document from Source Website File Size: 220,40 KB Share Document on Facebook