Article

A Novel Paradigm for Controlling Navigation and Walk in Biped Robotics

2024-03-13

Abstract excerpt

Classically the walk in biped robotics was obtained controlling balance during the whole step, i.e. guaranteeing that the pressure point under the soles always stayed in the polygon of the supporting feet. However, this assumed that the feet were able to transfer torque to the ground during the whole gait cycle. In spite of the fact that the amount of transferrable torque in the feet-ground contact is limited, it...

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Identifiers and source

Literature Corpus work: b0755949-fe46-57c0-a46c-b57fc412216d
DOI: 10.20944/preprints202403.0793.v1

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